Deformation-based loop closure for large scale dense RGB-D SLAM

Deformation-based loop closure for large scale dense RGB-D SLAM

In this paper we present a system for capturing large scale dense maps in an online setting with a low cost RGB-D sensor. Central to this work is the use of an "as-rigid-as-possible" space deformation for efficient dense map correction in a pose graph optimisation framework. By combining p...

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Bibliographic Details
Main Authors: Whelan, Thomas (Author), 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), 2015-06-29T19:05:26Z.
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