Approximate surface reconstruction and registration for RGB-D SLAM

  title={Approximate surface reconstruction and registration for RGB-D SLAM},
  author={Dirk Holz and Sven Behnke},
  journal={2015 European Conference on Mobile Robots (ECMR)},
RGB-D cameras have attracted much attention in the fields of robotics and computer vision, especially for object modeling and environment mapping. A key problem in all these applications is the registration of sequences of RGB-D images. In this paper, we present an efficient yet reliable approach to align pairs and sequences of RGB-D images that makes use of local surface information. We extend previous works on 3D mapping with micro aerial vehicles to sequences of RGB-D images. The resulting… CONTINUE READING
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