A robust RGB-D SLAM algorithm

@article{Hu2012ARR,
  title={A robust RGB-D SLAM algorithm},
  author={Gibson Hu and Shoudong Huang and Liang Zhao and Alen Alempijevic and Gamini Dissanayake},
  journal={2012 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2012},
  pages={1714-1719}
}
Recently RGB-D sensors have become very popular in the area of Simultaneous Localisation and Mapping (SLAM). The major advantage of these sensors is that they provide a rich source of 3D information at relatively low cost. Unfortunately, these sensors in their current forms only have a range accuracy of up to 4 metres. Many techniques which perform SLAM using RGB-D cameras rely heavily on the depth and are restrained to office type and geometrically structured environments. In this paper, a… CONTINUE READING
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