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RGB-D Mapping: Using Depth Cameras for Dense 3D Modeling of Indoor Environments [chapter]

Peter Henry, Michael Krainin, Evan Herbst, Xiaofeng Ren, Dieter Fox
2014 Springer Tracts in Advanced Robotics  
In this paper we investigate how such cameras can be used in the context of robotics, specifically for building dense 3D maps of indoor environments.  ...  We evaluate RGB-D Mapping on two large indoor environments, and show that it effectively combines the visual and shape information available from RGB-D cameras.  ...  We would like to thank Louis LeGrand and Brian Mayton for their support with the PrimeSense camera, and Marvin Cheng for his work on visualization.  ... 
doi:10.1007/978-3-642-28572-1_33 fatcat:3hlg5w4gzjfkpbugvllhuzkrdu

RGB-D mapping: Using Kinect-style depth cameras for dense 3D modeling of indoor environments

Peter Henry, Michael Krainin, Evan Herbst, Xiaofeng Ren, Dieter Fox
2012 The international journal of robotics research  
In this paper we investigate how such cameras can be used for building dense 3D maps of indoor environments.  ...  We evaluate RGB-D Mapping on two large indoor environments, and show that it effectively combines the visual and shape information available from RGB-D cameras.  ...  Acknowledgements We would like to thank Louis LeGrand and Brian Mayton for their support with the PrimeSense camera and Marvin Cheng for his work on visualization.  ... 
doi:10.1177/0278364911434148 fatcat:m5truaxakredfdqa6u2okotjhu

Incremental 2D Grid Map Generation from RGB-D Images [chapter]

Tingfeng Ye, Juzhong Zhang, Yingcai Wan, Ze Cui, Hongbo Yang
2021 Frontiers in Artificial Intelligence and Applications  
In this paper, we extend RGB-D SLAM to address the problem that sparse map-building RGB-D SLAM cannot directly generate maps for indoor navigation and propose a SLAM system for fast generation of indoor  ...  condition of limited computational resources, solving the problem that the sparse point cloud maps generated by RGB-D SLAM cannot be directly used for navigation.  ...  As a next step, we hope to make full use of the 3D information provided by the depth camera to generate indoor 3D navigation maps, suitable for complex indoor environments. Figure 1 . 1 Figure 1.  ... 
doi:10.3233/faia210433 fatcat:g5v3dsdmnzgy7nxt4rb44wcxh4

High-quality Instance-aware Semantic 3D Map Using RGB-D Camera [article]

Dinh-Cuong Hoang, Todor Stoyanov, Achim J. Lilienthal
2019 arXiv   pre-print
We present a mapping system capable of constructing detailed instance-level semantic models of room-sized indoor environments by means of an RGB-D camera.  ...  The resulting system is capable of producing accurate semantic maps of room-sized environments, as well as reconstructing highly detailed object-level models.  ...  Then the output of the segmentation stage along with depth map and RGB frame is used for camera pose estimation.  ... 
arXiv:1903.10782v6 fatcat:v6ncwi2b5jhjnnldaenxieromq

3-D Mapping With an RGB-D Camera

Felix Endres, Jurgen Hess, Jurgen Sturm, Daniel Cremers, Wolfram Burgard
2014 IEEE Transactions on robotics  
In this article we present a novel mapping system that robustly generates highly accurate 3D maps using an RGB-D camera. Our approach does not require any further sensors or odometry.  ...  Furthermore, our system can also be used for free-hand reconstruction of detailed 3D models.  ...  In this work, we describe one of the first RGB-D SLAM systems that took advantage of the dense color and depth images provided by RGB-D cameras.  ... 
doi:10.1109/tro.2013.2279412 fatcat:edf6xklw4vdaxdblcivmexj7om

Photorealistic 3D mapping of indoors by RGB-D scanning process

Tommi Tykkala, Andrew I. Comport, Joni-Kristian Kamarainen
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In this work, a RGB-D input stream is utilized for GPU-boosted 3D reconstruction of textured indoor environments.  ...  The goal is to develop a process which produces standard 3D models from indoors to explore them virtually. Camera motion is tracked in 3D space by registering the current view with a reference view.  ...  INTRODUCTION In this work, a process model is developed to reconstruct watertight and textured 3D maps from indoor environments by using a RGB-D sensor.  ... 
doi:10.1109/iros.2013.6696480 dblp:conf/iros/TykkalaCK13 fatcat:liggt5uinzbapbvnrcuzllwezi

ENHANCED RGB-D MAPPING METHOD FOR DETAILED 3D MODELING OF LARGE INDOOR ENVIRONMENTS

Shengjun Tang, Qing Zhu, Wu Chen, Walid Darwish, Bo Wu, Han Hu, Min Chen
2016 ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
Although they are widely used in various applications, RGB-D sensors have significant drawbacks with respect to 3D dense mapping of indoor environments.  ...  In this paper, we propose an enhanced RGB-D mapping method for detailed 3D modeling of large indoor environments by combining RGB image-based modeling and depth-based modeling.  ...  ENHANCED RGB-D MAPPING FOR INDOOR ENVIRONMENTS Overview of the Enhanced RGB-D Mapping System The RGB-D sensor system used in this research contains two sensors, an RGB camera and an IR sensor.  ... 
doi:10.5194/isprs-annals-iii-1-151-2016 fatcat:fdha4eklfzbfxpmzouen2cdjwy

Patch Volumes: Segmentation-Based Consistent Mapping with RGB-D Cameras

Peter Henry, Dieter Fox, Achintya Bhowmik, Rajiv Mongia
2013 2013 International Conference on 3D Vision  
Recent advances have allowed for the creation of dense, accurate 3D maps of indoor environments using RGB-D cameras.  ...  In this work we describe patch volumes, a novel multiple-volume representation which enables the creation of globally consistent maps of indoor environments beyond the capabilities of previous high-accuracy  ...  Acknowledgements We are grateful to Richard Newcombe for his guidance during the development of our system.  ... 
doi:10.1109/3dv.2013.59 dblp:conf/3dim/HenryFBM13 fatcat:i6fzr2ny3jdytdbog7htrbvgsq

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)  
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  ...  employed to develop reliable algorithms for localization and environment mapping.  ...  On the other hand, the mapping task uses a subset of all camera images called key frames, selected through a heuristic criteria, to build a 3D point map of the environment.  ... 
doi:10.1109/icar.2013.6766558 dblp:conf/icar/LoiannoLS13 fatcat:ephdc6mjcbeybaohuy4633crpu

RGB-D SLAM with Structural Regularities [article]

Yanyan Li, Raza Yunus, Nikolas Brasch, Nassir Navab, Federico Tombari
2021 arXiv   pre-print
This work proposes a RGB-D SLAM system specifically designed for structured environments and aimed at improved tracking and mapping accuracy by relying on geometric features that are extracted from the  ...  For the mapping part, different levels of maps from sparse to dense are reconstructed at a low computational cost.  ...  TUM RGB-D Dataset The TUM RGB-D benchmark [35] is one of the most popular datasets for RGB-D SLAM systems, which provides indoor sequences under different texture and structure conditions.  ... 
arXiv:2010.07997v2 fatcat:cfpldnoxuvawphh275gxjsklii

Dense RGB-D semantic mapping with Pixel-Voxel neural network [article]

Cheng Zhao, Li Sun, Pulak Purkait, Rustam Stolkin
2017 arXiv   pre-print
In this paper, a dense RGB-D semantic mapping system with a Pixel-Voxel network is proposed, which can perform dense 3D mapping while simultaneously recognizing and semantically labelling each point in  ...  For intelligent robotics applications, extending 3D mapping to 3D semantic mapping enables robots to, not only localize themselves with respect to the scene's geometrical features but also simultaneously  ...  The inclusion of semantic information with a 3D dense map is much useful than geometric information alone in robot-human or robot-environment interaction.  ... 
arXiv:1710.00132v3 fatcat:nqi5r47od5ddpjybfaszqxsunu

SUN RGB-D: A RGB-D scene understanding benchmark suite

Shuran Song, Samuel P. Lichtenberg, Jianxiong Xiao
2015 2015 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)  
In this paper, we introduce an RGB-D benchmark suite for the goal of advancing the state-of-the-arts in all major scene understanding tasks.  ...  Although RGB-D sensors have enabled major breakthroughs for several vision tasks, such as 3D reconstruction, we have not attained the same level of success in highlevel scene understanding.  ...  Efros and Szymon Rusinkiewicz for valuable discussion.  ... 
doi:10.1109/cvpr.2015.7298655 dblp:conf/cvpr/SongLX15 fatcat:d6huvfgrfngvjg6wr65hspou2e

Enhanced RGB-D Mapping Method for Detailed 3D Indoor and Outdoor Modeling

Shengjun Tang, Qing Zhu, Wu Chen, Walid Darwish, Bo Wu, Han Hu, Min Chen
2016 Sensors  
sensors for detailed 3D modeling of large indoor and outdoor environments.  ...  Traditionally, only 3D information from depth sensor is used for scene modeling, we introduce a novel approach for geometric integration of depth scene and RGB scene to enhance the mapping system of RGB-D  ...  Enhanced RGB-D Mapping for Indoor Environments Overview of the Enhanced RGB-D Mapping System The RGB-D sensor system used in this research contains two sensors: one RGB camera, and one IR sensor called  ... 
doi:10.3390/s16101589 pmid:27690028 pmcid:PMC5087378 fatcat:uxvdljnpcbbg3hvvenjxjdjbre

RGB–D terrain perception and dense mapping for legged robots

Dominik Belter, Przemysław Łabecki, Péter Fankhauser, Roland Siegwart
2016 International Journal of Applied Mathematics and Computer Science  
Moreover, this paper presents uncertainty models for a structured light RGB-D sensor and a stereo vision camera used to produce a dense depth map.  ...  The proposed uncertainty models were used for the construction of a terrain elevation map using the Videre Design STOC stereo vision camera and Kinect-like range sensors.  ...  This work was partially supported by the Swiss National Science Foundation (SNF) through the project 200021 149427/1 and the National Centre of Competence in Research Robotics.  ... 
doi:10.1515/amcs-2016-0006 fatcat:devwrhcqf5fkveaasjbgiadf5m

Dense accurate urban mapping from spherical RGB-D images

Renato Martins, Eduardo Fernandez-Moral, Patrick Rives
2015 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
This paper presents a methodology to combine information from a sequence of RGB-D spherical views acquired by a home-made multi-stereo device in order to improve the computed depth images both in terms  ...  This methodology is embedded in a larger visual mapping framework aiming to produce accurate and dense topometric urban maps. Our method is based on two main filtering stages.  ...  The authors thank Florent Lafarge for discussions on the patch algorithm segmentation, and Tawsif Gokhool and the reviewers for their critical insights and suggestions for improving the material of this  ... 
doi:10.1109/iros.2015.7354270 dblp:conf/iros/MartinsFR15 fatcat:3yml4qwbhrarbgyycxjph62wky
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