Real-time 3 D visual SLAM with a hand-held RGB-D camera

@inproceedings{Engelhard2011Realtime3D,
  title={Real-time 3 D visual SLAM with a hand-held RGB-D camera},
  author={Nikolas Engelhard and Felix Endres and J{\"u}rgen Hess and J{\"u}rgen Sturm and Wolfram Burgard},
  year={2011}
}
The practical applications of 3D model acquisition are manifold. In this paper, we present our RGB-D SLAM system, i.e., an approach to generate colored 3D models of objects and indoor scenes using the hand-held Microsoft Kinect sensor. Our approach consists of four processing steps as illustrated in Figure 1. First, we extract SURF features from the incoming color images. Then we match these features against features from the previous images. By evaluating the depth images at the locations of… CONTINUE READING
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References

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http://www.ros.org/wiki/openni/Contests/ROS 3D/RGBD-6D- SLAM

F. Endres, J. Hess, N. Engelhard, J. Sturm, W. Burgard
2011
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http://www.youtube.com/watch?v=XejNctt2Fcs, ?v=5qrBEPfEPaY, and ?v=NR-ycTNcQu0

F. Endres, J. Hess, N. Engelhard, J. Sturm, W. Burgard
2011
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Generalized ICP

A. Segal D. Haehnel, S. Thrun
In Proc. of Robotics: Science and Systems (RSS), • 2009
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