Robust real-time visual odometry for dense RGB-D mapping

Robust real-time visual odometry for dense RGB-D mapping

This paper describes extensions to the Kintinuous [1] algorithm for spatially extended KinectFusion, incorporating the following additions: (i) the integration of multiple 6DOF camera odometry estimation methods for robust tracking; (ii) a novel GPU-based implementation of an existing dense RGB-D vi...

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Bibliographic Details
Main Authors: Whelan, Thomas (Author), Johannsson, Hordur (Contributor), Kaess, Michael (Contributor), McDonald, John (Author), Leonard, John Joseph (Contributor)
Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory (Contributor), Massachusetts Institute of Technology. Department of Mechanical Engineering (Contributor)
Format: Article
Language:English
Published: Institute of Electrical and Electronics Engineers (IEEE), 2015-06-29T15:43:45Z.
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