Robust Real-Time Visual Odometry for Dense RGB-D Mapping

TitleRobust Real-Time Visual Odometry for Dense RGB-D Mapping
Publication TypeConference Paper
Year of Publication2013
AuthorsWhelan T, Johnnsson H, Kaess M, Leonard JJ, McDonald JB
Conference NameIntl. Conf. on Robotics and Automation (ICRA)
Date PublishedMay 2013
Conference LocationKarlsruhe, Germany

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 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.