|Title||Robust Real-Time Visual Odometry for Dense RGB-D Mapping|
|Publication Type||Conference Paper|
|Year of Publication||2013|
|Authors||Whelan T, Johnnsson H, Kaess M, Leonard JJ, McDonald JB|
|Conference Name||Intl. Conf. on Robotics and Automation (ICRA)|
|Date Published||May 2013|
|Conference Location||Karlsruhe, Germany|
This paper describes extensions to the Kintinuous  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 visual odometry algorithm; (iii) advanced fused realtime surface coloring. These extensions are validated with extensive experimental results, both quantitative and qualitative, demonstrating the ability to build dense fully colored models of spatially extended environments for robotics and virtual reality applications while remaining robust against scenes with challenging sets of geometric and visual features.