RGB-D SLAM Using Point–Plane Constraints for Indoor Environments

RGB-D SLAM Using Point–Plane Constraints for Indoor Environments

Pose estimation and map reconstruction are basic requirements for robotic autonomous behavior. In this paper, we propose a point−plane-based method to simultaneously estimate the robot’s poses and reconstruct the current environment’s map using RGB-D cameras. First, we...

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Bibliographic Details
Main Authors: Ruibin Guo, Keju Peng, Weihong Fan, Yongping Zhai, Yunhui Liu
Format: Article
Language:English
Published: MDPI AG 2019-06-01
Series:Sensors
Subjects:
visual SLAM
pose estimation
map reconstruction
point–plane-based factor graph
Manhattan World
RGB-D camera
Online Access:https://www.mdpi.com/1424-8220/19/12/2721

Internet

https://www.mdpi.com/1424-8220/19/12/2721

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