The International Journal of Robotics Research· 2012Q1
RGB-D mapping: Using Kinect-style depth cameras for dense 3D modeling of indoor environments
- 1,170citations
- Q1SCImago
- 2012year
Short summary
A new system, RGB-D Mapping, uses Kinect-style cameras to create detailed 3D models of indoor spaces by combining visual features and shape alignment.
AI-generated from the title and abstract; the full text is not read.
Key points
- RGB-D cameras capture both color images and per-pixel depth information.
- The RGB-D Mapping system combines visual features and shape-based alignment for 3D modeling.
- Visual and depth data are used for loop-closure detection to ensure map consistency.
- The system was evaluated on two large indoor environments, demonstrating its effectiveness.
AI-generated from the title and abstract; the full text is not read.
Abstract
RGB-D cameras (such as the Microsoft Kinect) are novel sensing systems that capture RGB images along with per-pixel depth information. In this paper we investigate how such cameras can be used for building dense 3D maps of indoor environments. Such maps have applications in robot navigation, manipulation, semantic mapping, and telepresence. We present RGB-D Mapping, a full 3D mapping system that utilizes a novel joint optimization algorithm combining visual features and shape-based alignment. Visual and depth information are also combined for view-based loop-closure detection, followed by pose optimization to achieve globally consistent maps. We evaluate RGB-D Mapping on two large indoor environments, and show that it effectively combines the visual and shape information available from RGB-D cameras.
The authors' abstract, as published at the source. The International Journal of Robotics Research, 2012 · DOI ↗
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Field: Aerospace Engineering
Aerospace EngineeringEngineering