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—In this paper we present an extension to the KinectFusion algorithm that permits dense mesh-based mapping of extended scale environments in real-time. This is achieved through (i) altering the original algorithm such that the region of space being mapped by the KinectFusion algorithm can vary dynamically, (ii) extracting a dense point cloud from the(More)
We introduce the Imperial College London and National University of Ireland Maynooth (ICL-NUIM) dataset for the evaluation of visual odometry, 3D reconstruction and SLAM algorithms that typically use RGB-D data. We present a collection of handheld RGB-D camera sequences within synthetically generated environments. RGB-D sequences with perfect ground truth(More)
This paper describes extensions to the Kintinuous [1] algorithm for spatially extended KinectFusion, incorporating the following additions: (i) the integration of multiple 6DOF camera odometry estimation methods for robust tracking; (ii) a novel GPU-based implementation of an existing dense RGB-D visual odometry algorithm; (iii) advanced fused realtime(More)
The MIT Faculty has made this article openly available. Please share how this access benefits you. Your story matters. Abstract We present a new SLAM system capable of producing high quality globally consistent surface reconstructions over hundreds of metres in real-time with only a low-cost commodity RGB-D sensor. By using a fused volumetric surface(More)
The paper examines second stage DEA efficiency analyses, within the context of a censoring data generating process (DGP) and a fractional data DGP, when efficiency scores are treated as descriptive measures of the relative performance of units in the sample. It is argued that the efficiency scores are not generated by a censoring process but are fractional(More)
— This paper describes extensions to the Kintinu-ous [1] algorithm for spatially extended KinectFusion, incorporating the following additions: (i) the integration of multiple 6DOF camera odometry estimation methods for robust tracking ; (ii) a novel GPU-based implementation of an existing dense RGB-D visual odometry algorithm; (iii) advanced fused real-time(More)
The emergence of the Internet as a trusted medium for commerce and communication has made cryptography an essential component of modern information systems. Cryptography provides the mechanisms necessary to implement accountability, accuracy, and confidentiality in communication. As demands for secure communication bandwidth grow, efficient cryptographic(More)
— For humanoid robots to fulfill their mobility potential they must demonstrate reliable and efficient locomotion over rugged and irregular terrain. In this paper we present the perception and planning algorithms which have allowed a humanoid robot to use only passive stereo imagery (as opposed to actuating a laser range sensor) to safely plan footsteps to(More)
Research studies on sensory issues in autism, including those based on questionnaires, autobiographical accounts, retrospective video observations and early experimental approaches are reviewed in terms of their strengths and limitations. We present a cognitive neuroscience theoretical perspective on multisensory integration and propose that this may be a(More)
In this paper we present a system for capturing large scale dense maps in an online setting with a low cost RGB-D sensor. Central to this work is the use of an “as-rigid-as-possible” space deformation for efficient dense map correction in a pose graph optimisation framework. By combining pose graph optimisation with non-rigid deformation of a(More)