GPU-based real-time RGB-D 3D SLAM

2012 9th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2012

Volumn , Issue , 2012, Pages 46-48

  Lee, Donghwa ^a   Kim, Hyongjin ^a   Myung, Hyun ^a  

^a Korea Advanced Institute of Science and Technology (KAIST)   (South Korea)

Author keywords

3D SLAM; 3D RANSAC; Image features; Projective iterative closest point; RGB D camera

Indexed keywords

3D SLAM; 3D-RANSAC; IMAGE FEATURES; ITERATIVE CLOSEST POINTS; RGB-D CAMERAS;

ALGORITHMS; ARTIFICIAL INTELLIGENCE; COMPUTER GRAPHICS EQUIPMENT; PROGRAM PROCESSORS; ROBOTICS;

THREE DIMENSIONAL COMPUTER GRAPHICS;

EID: 84874668585     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/URAI.2012.6462927     Document Type: Conference Paper

References (11)

1. M. Dissanayake, P. Newman, S. Clark, H. Durrant-Whyte, and M. Csorba, "A solution to the simultaneous localization and map building (SLAM) problem," IEEE Transactions on Robotics and Automation, vol. 17, no. 3, pp. 229-241, 2001.
2. M. Michael, T. Sebastian, and K. Daphne, "Fast-SLAM 2.0: An Improved Particle Filtering Algorithm for Simultaneous Localization and Mapping that Provably Converges," Proc. of The 18th International Joint Conference on Artificial Intelligence, 2003.
3. D. Hahnel, W. Burgard, D. Fox, and S. Thrun, "An efficient Fast SLAM algorithm for generating maps of large-scale cyclic environments from raw laser range measurements," Proc. of 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), vol. 1, pp. 206-211 vol. 1, 2003.
4. M. Kaess, A. Ranganathan, and F. Dellaert, "iSAM: Incremental smoothing and mapping," IEEE Transactions on Robotics, vol. 24, no. 6, pp. 1365-1378, 2008.
5. R. Kummerle and G. Grisetti, "g2o: A General Framework for Graph Optimization." in Proc. of 2011 IEEE International Conference on Robotics and Automation (ICRA), 2011.
6. M. Krainin, D. Maturana, and D. Fox, "Visual odometry and mapping for autonomous flight using an rgb-d camera," Proc. of The 15th International Symposium on Robotics Research (ISRR), 2011.
7. F. Endres, W. Burgard, and D. Cremers, "A Benchmark for the Evaluation of RGB-D SLAM Systems," Proc. of 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Aug. 2012.
8. P. Henry, M. Krainin, E. Herbst, X. Ren, and D. Fox, "RGB-D mapping: Using Kinect-style depth cameras for dense 3D modeling of indoor environments," The International Journal of Robotics Research, vol. 31, no. 5, pp. 647-663, Apr. 2012.
9. F. Endres, J. Hess, N. Engelhard, J. Sturm, D. Cremers, and W. Burgard, "An evaluation of the RGBD SLAM syatem," in Proc. of 2012 IEEE International Conference on Robotic and Automation (ICRA), 2012, pp. 1691-1696.
10. N. Engelharda, F. Endresa, J. Hessa, J. Sturmb, and W. Burgarda, "Real-time 3D visual SLAM with a hand-held RGB-D camera," Proc. of the RGB-D Workshop on 3D Perception in Robotics at the European Robotics Forum, Vasteras, Sweden, vol. 2011. 2011.
11. R. Newcombe, S. Izadi, O. Hilliges, D. Molyneaux, D. Kim, A. Davison, P. Kohli, J. shotton, S. Hodges, and A. Fitzgibbon, "Kinect Fusion: Real-time dense surface mapping and tracking," Proc. of 2011 10th IEEE International Symposium on Mixed and Augmented Reality (ISMAR), pp. 127-136, 2011