3D visual SLAM using RGB-D camera

Krerngkamjornkit, R and Simic, M 2014, '3D visual SLAM using RGB-D camera' in Neves-Silva, Rui, G.A. Tsihrintzis, Vladimir Uskov, R.J. Howlett, L.C. Jain (ed.) Smart Digital Futures 2014, IOS Press, Amsterdam, Netherlands, pp. 533-546.


Document type: Book Chapter
Collection: Book Chapters

Title 3D visual SLAM using RGB-D camera
Author(s) Krerngkamjornkit, R
Simic, M
Year 2014
Title of book Smart Digital Futures 2014
Publisher IOS Press
Place of publication Amsterdam, Netherlands
Editor(s) Neves-Silva, Rui, G.A. Tsihrintzis, Vladimir Uskov, R.J. Howlett, L.C. Jain
Start page 533
End page 546
Subjects Autonomous Vehicles
Summary Simultaneous Localization and Mapping (SLAM) is a process of building a map of an unknown environment and at the same time calculating current robot position. The aim of our investigation was to find a robust method to generate 3D maps with the use of latest sensor technologies like a RGB-D camera. We introduced 3D Visual SLAM framework by suggesting a system configuration for localization method, integrated with keyframe-based approach to accommodate need for backend processing. Loop closing system and post graph optimization were defined. This framework produces impressive results compared with other state of the art algorithms. The applications for our 3D Visual SLAM include MAVs vision navigation, environment perception and vision-based control system.
Copyright notice © 2014 The authors and IOS Press
Keyword(s) 3D
Visual SLAM
Localisation
RGB-D Camera
ISBN 9781614994053
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