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RGB-D Indoor Plane-based 3D-Modeling using Autonomous Robot

N. Mostofi, A. Moussa, M. Elhabiby, N. El-Sheimy
2014 The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
In this research work, we describe a system for visual odometry and 3D modeling using information from RGB-D sensor (Camera).  ...  The visual odometry method estimates the relative pose of the consecutive RGB-D frames through feature extraction and matching techniques.  ...  Fast odometry from vision (FOVIS) is used in Huang et al. (2011) for visual odometry method based on fast feature extraction across RGB image frames.  ... 
doi:10.5194/isprsarchives-xl-1-301-2014 fatcat:r55gpqjdv5af3cgeeau5p2lqpu

Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera [chapter]

Albert S. Huang, Abraham Bachrach, Peter Henry, Michael Krainin, Daniel Maturana, Dieter Fox, Nicholas Roy
2016 Springer Tracts in Advanced Robotics  
In this paper, we describe a system for visual odometry and mapping using an RGB-D camera, and its application to autonomous flight.  ...  RGB-D cameras provide both a color image and per-pixel depth estimates.  ...  The RGB-D camera is mounted at the base of the vehicle, tilted slightly down. Fig. 2 2 The input RGB-D data to the visual odometry algorithm alongside the detected feature matches.  ... 
doi:10.1007/978-3-319-29363-9_14 fatcat:rszxizbt2vh37oxjkdcz7hevbm

Visual Odometry and Mapping for Indoor Environments Using RGB-D Cameras [chapter]

Bruno M. F. Silva, Luiz M. G. Gonçalves
2015 Communications in Computer and Information Science  
Aiming to compute 6DOF camera poses for robots in a fast and efficient way, a Visual Odometry system for RGB-D sensors is designed and proposed that allows real-time position estimation despite the fact  ...  One major application that directly benefits from these sensors is Visual Odometry, a class of algorithms responsible to estimate the position and orientation of a moving agent at the same time that a  ...  This work is supported by the Coordination for the Improvement of Higher Education Personnel (CAPES) and the Funding Agency for Studies and Projects (FINEP).  ... 
doi:10.1007/978-3-662-48134-9_2 fatcat:vicep3j22rakrkmyxffkhn5dfm

Experimental study of odometry estimation methods using RGB-D cameras

Zheng Fang, Sebastian Scherer
2014 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In recent years, several RGB-D visual odometry methods which process data from the sensor in different ways have been proposed .  ...  the RGB-D data and environment characteristics.  ...  [17] integrates fovis and dense visual odometry with ICP for dense RGB-D mapping on a powerful CPU and GPU.  ... 
doi:10.1109/iros.2014.6942632 dblp:conf/iros/FangS14 fatcat:oftizz7aizaufph53dtn45mjze

Real-time onboard 6DoF localization of an indoor MAV in degraded visual environments using a RGB-D camera

Zheng Fang, Sebastian Scherer
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
This paper presents an onboard 6DoF pose estimation method for an indoor MAV in challenging GPS-denied degraded visual environments by using a RGB-D camera.  ...  First, a fast and robust relative pose estimation (6DoF Odometry) method is proposed, which uses the range rate constraint equation and photometric error metric to get the frame-to-frame transform.  ...  Zhang and G. Dubey for their help.  ... 
doi:10.1109/icra.2015.7139931 dblp:conf/icra/FangS15 fatcat:lyah63lclfesljk6rf6ujdo7za

Depth camera SLAM on a low-cost WiFi mapping robot

Piotr Mirowski, Ravishankar Palaniappan, Tin Kam Ho
2012 2012 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)  
It then uses RGB-D images for Simultaneous Localization and Mapping.  ...  Our two-stage localization architecture first performs real-time obstacle-avoidance-based navigation and visual-based odometry correction for bearing angles.  ...  ACKNOWLEDGMENT The authors wish to thank Harald Steck, Philip Whiting, Michael MacDonald, Detlef Hartmann, HeinzDieter Hettstedt and Hans-Peter Enderle for their very useful feedback on the data acquisition  ... 
doi:10.1109/tepra.2012.6215673 dblp:conf/tepra/MirowskiPH12 fatcat:sad2wrcvn5gwjo5jqov6dluvyy

Lightweight Visual Odometry for Autonomous Mobile Robots

Mohamed Aladem, Samir Rawashdeh
2018 Sensors  
This paper presents a low-overhead real-time ego-motion estimation (visual odometry) system based on either a stereo or RGB-D sensor.  ...  maps common in full visual SLAM methods.  ...  Our system supports RGB-D data as well, where features are detected from the RGB image and depth information is extracted from the depth image.  ... 
doi:10.3390/s18092837 pmid:30154311 fatcat:2bvhht2er5awdgx6cwtqomts5m

Fast localization and 3D mapping using an RGB-D sensor

Giuseppe Loianno, Vincenzo Lippiello, Bruno Siciliano
2013 2013 16th International Conference on Advanced Robotics (ICAR)  
A real-time approach combining a monocular visual odometry algorithm and range depth data is proposed in this paper.  ...  Low-cost range sensors represent an interesting class of sensors which are increasingly used for localization and mapping purposes in robotics.The combination of depth data and visual information can be  ...  A new scale factor estimation method using a combination of RGB monocular visual odometry and depth map has been proposed.  ... 
doi:10.1109/icar.2013.6766558 dblp:conf/icar/LoiannoLS13 fatcat:ephdc6mjcbeybaohuy4633crpu

Evaluation of the modern visual SLAM methods

Arthur Huletski, Dmitriy Kartashov, Kirill Krinkin
2015 2015 Artificial Intelligence and Natural Language and Information Extraction, Social Media and Web Search FRUCT Conference (AINL-ISMW FRUCT)  
RGB-D dataset from TUM Notes OpenRatSLAM was provided with data at 15Hz rate instead of 30Hz to make tracking robust.  ...  Conclusion Several modern SLAM methods (L-, LSD-, ORB-and OpenRat-) were analyzed and evaluated with RGB-D dataset provided by TUM.  ... 
doi:10.1109/ainl-ismw-fruct.2015.7382963 fatcat:f4vqsz6gevajtipuxe7ontmapu

Direct Depth SLAM: Sparse Geometric Feature Enhanced Direct Depth SLAM System for Low-Texture Environments

Shibo Zhao, Zheng Fang
2018 Sensors  
This paper presents a real-time, robust and low-drift depth-only SLAM (simultaneous localization and mapping) method for depth cameras by utilizing both dense range flow and sparse geometry features from  ...  We evaluate the performance of our method using benchmark datasets and real scene data.  ...  Author Contributions: S.Z. contributed to the programing, experiments and writing of the manuscript.  ... 
doi:10.3390/s18103339 fatcat:sirtzyw2l5bjnfllni2fzxrzfq

Using Dense 3D Reconstruction for Visual Odometry Based on Structure from Motion Techniques [chapter]

Marcelo de Mattos Nascimento, Manuel Eduardo Loaiza Fernandez, Alberto Barbosa Raposo
2016 Lecture Notes in Computer Science  
Odometry provided by this work can be used to model a camera position and orientation from dense 3D reconstruction. AQ1  ...  Visual odometry is the process of estimating the position and orientation of an agent (a robot, for instance), based on images.  ...  . • The second one uses the extracted data from the 3D map to perform a visual odometry in real time.  ... 
doi:10.1007/978-3-319-50832-0_47 fatcat:wczy5cpvkzbcrirnvi53o3agqe

Point Cloud Mapping Measurements Using Kinect RGB-D Sensor and Kinect Fusion for Visual Odometry

N. Namitha, S.M. Vaitheeswaran, V.K. Jayasree, M.K. Bharat
2016 Procedia Computer Science  
RGB-D camera like Kinect make available RGB Images along with per-pixel depth information in real time.  ...  This paper uses the Kinect Fusion developed by Microsoft Research for the 3D reconstruction of the scene in real time using the MicroKinect Camera and applies it as an aid for Visual Odometry of a Robotic  ...  Taking advantage of this, the present paper proposes to use a RGB-D camera, readily available for visual odometry application.  ... 
doi:10.1016/j.procs.2016.06.044 fatcat:kiir2zpq7zfolbcopqgsgyka54

RGB-D SLAM Combining Visual Odometry and Extended Information Filter

Heng Zhang, Yanli Liu, Jindong Tan, Naixue Xiong
2015 Sensors  
Experimental validation is provided, which compares the proposed RGB-D SLAM algorithm with just RGB-D visual odometry and a graph-based RGB-D SLAM algorithm using the publicly-available RGB-D dataset.  ...  In this paper, we present a novel RGB-D SLAM system based on visual odometry and an extended information filter, which does not require any other sensors or odometry.  ...  The work in [31] uses RGB-D data to provide a complete benchmark for evaluating visual SLAM and odometry systems and proposes two evaluation metrics and automatic evaluation tools. Kerl et al.  ... 
doi:10.3390/s150818742 pmid:26263990 pmcid:PMC4570344 fatcat:7l5k5ibyezd63fny6kjrzan4wy

Depth-Camera-Aided Inertial Navigation Utilizing Directional Constraints

Usman Qayyum, Jonghyuk Kim
2021 Sensors  
If a depth image is available, a window-based feature map is maintained to compute the RGB-D odometry, which is then fused with inertial outputs in an extended Kalman filter framework.  ...  In depth drop conditions, only the partial 5-degrees-of-freedom pose information (attitude and position with an unknown scale) is available from the RGB-D sensor.  ...  RGB-D images are processed in a local Kinect odometry module that utilizes a window-based map for real-time processing. 2D RGB images are used for directional motion constraints and rotation rate and fused  ... 
doi:10.3390/s21175913 pmid:34502806 fatcat:chlnewub5nhixc5p4tejak25ya

Efficient generation of 3D surfel maps using RGB–D sensors

Artur Wilkowski, Tomasz Kornuta, Maciej Stefańczyk, Włodzimierz Kasprzak
2016 International Journal of Applied Mathematics and Computer Science  
The article focuses on the problem of building dense 3D occupancy maps using commercial RGB-D sensors and the SLAM approach.  ...  The proposed solution consists of two such key elements, visual odometry and surfel-based mapping, but it contains substantial improvements: storing the surfel maps in octree form and utilizing a frustum  ...  The initial version of this work was presented at the special session on Robotic perception employing RGB-D images during the 13th National Conference on Robotics in Kudowa Zdrój, Poland, 2014.  ... 
doi:10.1515/amcs-2016-0007 fatcat:kernkxup55bchoeff2wtti5bea
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