An evaluation of the RGB-D SLAM system

@article{Endres2012AnEO,
  title={An evaluation of the RGB-D SLAM system},
  author={Felix Endres and J{\"u}rgen Hess and Nikolas Engelhard and J{\"u}rgen Sturm and Daniel Cremers and Wolfram Burgard},
  journal={2012 IEEE International Conference on Robotics and Automation},
  year={2012},
  pages={1691-1696}
}
We present an approach to simultaneous localization and mapping (SLAM) for RGB-D cameras like the Microsoft Kinect. Our system concurrently estimates the trajectory of a hand-held Kinect and generates a dense 3D model of the environment. We present the key features of our approach and evaluate its performance thoroughly on a recently published dataset, including a large set of sequences of different scenes with varying camera speeds and illumination conditions. In particular, we evaluate the… 

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