• Corpus ID: 207887346

6D Visual SLAM for RGB-D Sensors

@inproceedings{Hess20126DVS,
  title={6D Visual SLAM for RGB-D Sensors},
  author={J{\"u}rgen Hess and Nikolas Engelhard and J{\"u}rgen Sturm},
  year={2012}
}
Zusammenfassung Zur Automatisierung komplexer Manipulationsaufgaben in dynamischen oder unbekannten Umgebungen benötigt die Steuerungssoftware eines autonomen Roboters eine Repräsentation des Arbeitsbereiches, mit der die Kollisionsfreiheit bei der Durchführung der Aufgabe gewährleistet werden kann. Dieser Beitrag beschreibt ein neues System zur Erstellung von 3D-Umgebungsrepräsentationen aus den RGB-D-Daten neuartiger Kameras, wie der Microsoft Kinect. Durch die Unabhängigkeit von weiterer… 
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6 Citations
Background Citations
2
Methods Citations
2

6 Citations

Citation Type

Citation Type

D Mapping with an RGB-D Camera
TLDR
A novel mapping system that robustly generates highly accurate 3D maps using an RGB-D camera that applies to small domestic robots as well as flying robots such as quadrocopters and free-hand reconstruction of detailed 3D models.
3-D Mapping With an RGB-D Camera
TLDR
A novel mapping system that robustly generates highly accurate 3-D maps using an RGB-D camera that applies to small domestic robots such as vacuum cleaners, as well as flying robotssuch as quadrocopters.
A Fast Robot Identification and Mapping Algorithm Based on Kinect Sensor
TLDR
The reduced dynamic covariance scaling (DCS) algorithm is formulated as a global optimization problem under the G2O framework to improve the accuracy of SLAM and achieves higher processing speed and better accuracy.
Integrating depth and color cues for dense multi-resolution scene mapping using RGB-D cameras
  • J. Stückler, Sven Behnke
  • Computer Science
    2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)
  • 2012
TLDR
This work proposes a novel method for acquiring 3D maps of indoor scenes from a freely moving RGB-D camera that integrates color and depth cues seamlessly in a multi-resolution map representation and proposes an efficient randomized loop-closure technique that is designed for on-line operation.
Multi-resolution surfel maps for efficient dense 3D modeling and tracking
Color smoothing for RGB-D data using entropy information

References

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