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Depth camera SLAM on a low-cost WiFi mapping robot

Piotr Mirowski, Ravishankar Palaniappan, Tin Kam Ho
<span title="">2012</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/ef6o7cnunvejfig6s6wpuelr7u" style="color: black;">2012 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)</a> </i> &nbsp;
It then uses RGB-D images for Simultaneous Localization and Mapping.  ...  We compare the applicability of 6-degrees-offreedom RGB-D SLAM, and of particle filtering 2D SLAM algorithms and present novel ideas for loop closures.  ...  and robotic setup and Ben Lowe for his crucial logistic help.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/tepra.2012.6215673">doi:10.1109/tepra.2012.6215673</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/tepra/MirowskiPH12.html">dblp:conf/tepra/MirowskiPH12</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/sad2wrcvn5gwjo5jqov6dluvyy">fatcat:sad2wrcvn5gwjo5jqov6dluvyy</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170922011204/http://cs.nyu.edu/%7Emirowski/pub/PiotrMirowski_TePRA_2012_Final.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/04/1e/041ef67a5bb52f86ad6aea8bc91ad13242967767.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/tepra.2012.6215673"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

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
<span title="2016-09-27">2016</span> <i title="MDPI AG"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/taedaf6aozg7vitz5dpgkojane" style="color: black;">Sensors</a> </i> &nbsp;
In addition to the calibration of internal and external parameters for both, IR camera and RGB camera, the relative pose between RGB camera and IR camera is also calibrated.  ...  First, precise calibration for RGB-D Sensors is introduced.  ...  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  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3390/s16101589">doi:10.3390/s16101589</a> <a target="_blank" rel="external noopener" href="https://www.ncbi.nlm.nih.gov/pubmed/27690028">pmid:27690028</a> <a target="_blank" rel="external noopener" href="https://pubmed.ncbi.nlm.nih.gov/PMC5087378/">pmcid:PMC5087378</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/uxvdljnpcbbg3hvvenjxjdjbre">fatcat:uxvdljnpcbbg3hvvenjxjdjbre</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20180727100127/https://res.mdpi.com/def502005a5ae29c911e7af716a290e636fb3f4d1b33401005feb1cc3ba1e49c009b471dce4cdcdc232ce8203797236ff37cbd53ccd4e2ac3ea09854b10948f7af80fc2ababc73a41c53359ca454ea8d6f50e0f965f90afee951f4041d4c5fc779069c31a69c67e01e5efa81a7f5deaedfba93335e6fb93da7f117e067e9e1b74917b8b5dc93df0f7a8ee43d31caec9a?filename=&amp;attachment=1" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/70/d9/70d927695153f75f36c6a3d6e025c22120147536.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3390/s16101589"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> mdpi.com </button> </a> <a target="_blank" rel="external noopener" href="https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5087378" title="pubmed link"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> pubmed.gov </button> </a>

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
<span title="2016-06-02">2016</span> <i title="Copernicus GmbH"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/yhzu63ehjfe2dbswnsdfm5vlba" style="color: black;">ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences</a> </i> &nbsp;
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.  ...  Although they are widely used in various applications, RGB-D sensors have significant drawbacks with respect to 3D dense mapping of indoor environments.  ...  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.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.5194/isprs-annals-iii-1-151-2016">doi:10.5194/isprs-annals-iii-1-151-2016</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/fdha4eklfzbfxpmzouen2cdjwy">fatcat:fdha4eklfzbfxpmzouen2cdjwy</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20180602221111/https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/III-1/151/2016/isprs-annals-III-1-151-2016.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/5a/5a/5a5aa714e4deec67622362cdedaa375296930d9d.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.5194/isprs-annals-iii-1-151-2016"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> Publisher / doi.org </button> </a>

Visual Map Construction Using RGB-D Sensors for Image-Based Localization in Indoor Environments

Guanyuan Feng, Lin Ma, Xuezhi Tan
<span title="">2017</span> <i title="Hindawi Limited"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/zlknqk4ahbcsthbafxw55emm7a" style="color: black;">Journal of Sensors</a> </i> &nbsp;
This paper focuses on the use of RGB-D sensors to construct a visual map which is an extended dense 3D map containing essential elements for image-based localization, such as poses of the database camera  ...  RGB-D sensors capture RGB images and depth images simultaneously, which makes it possible to acquire the depth information at pixel level.  ...  Acknowledgments This paper is supported by the National Natural Science Foundation of China (61571162) and Natural Science Foundation of Heilongjiang Province (F2016019).  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1155/2017/8037607">doi:10.1155/2017/8037607</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/y6twx3uvv5bg3pmlfx77otkryq">fatcat:y6twx3uvv5bg3pmlfx77otkryq</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20190308083025/http://pdfs.semanticscholar.org/ef95/e68d09c211246d464d1c24833ecaa7271df8.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/ef/95/ef95e68d09c211246d464d1c24833ecaa7271df8.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1155/2017/8037607"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> hindawi.com </button> </a>

Real-Time Dense Reconstruction of Indoor Scene

Jinxing Niu, Qingsheng Hu, Yi Niu, Tao Zhang, Sunil Kumar Jha
<span title="">2021</span> <i title="Computers, Materials and Continua (Tech Science Press)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/amujz7fcqna6do727z6ev3ueo4" style="color: black;">Computers Materials &amp; Continua</a> </i> &nbsp;
A Realsense D415 sensor is used as RGB-D cameras to obtain the three-dimensional (3D) point clouds of an indoor environments.  ...  A parallel thread of map reconstruction is added with surfel model, and depth map and RGB map are fused to build the dense map.  ...  Acknowledgement: The authors would like to thank the anonymous reviewers and the editor for the very instructive suggestions that led to the much-improved quality of this paper.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.32604/cmc.2021.017418">doi:10.32604/cmc.2021.017418</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/j7nv25g7pncbrixk3u3zulhe3e">fatcat:j7nv25g7pncbrixk3u3zulhe3e</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20220309041744/https://www.techscience.com/ueditor/files/cmc/TSP-CMC-68-3/TSP_CMC_17418/TSP_CMC_17418.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/5a/7b/5a7bc62366d2a8d636bcd1b754d45dc86a448249.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.32604/cmc.2021.017418"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>

Online Reconstruction of Indoor Scenes from RGB-D Streams

Hao Wang, Jun Wang, Liang Wang
<span title="">2016</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/ilwxppn4d5hizekyd3ndvy2mii" style="color: black;">2016 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)</a> </i> &nbsp;
A system capable of performing robust online volumetric reconstruction of indoor scenes based on input from a handheld RGB-D camera is presented.  ...  Upon termination of scanning, the second pass takes place to handle loop closures and reconstruct the final model using globally refined camera trajectories.  ...  DVO-SLAM detects much more loop edges and might fail to estimate the relative camera pose correctly for such complicated handheld RGB-D sequences.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/cvpr.2016.356">doi:10.1109/cvpr.2016.356</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/cvpr/WangWW16.html">dblp:conf/cvpr/WangWW16</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/bpokcmaapff3dkw7cjylkc5gce">fatcat:bpokcmaapff3dkw7cjylkc5gce</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20160909123610/http://www.cv-foundation.org:80/openaccess/content_cvpr_2016/papers/Wang_Online_Reconstruction_of_CVPR_2016_paper.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/e3/ac/e3acafe475dba0e88d693b0e5804e35cb25bae74.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/cvpr.2016.356"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Benchmark of Visual SLAM Algorithms: ORB-SLAM2 vs RTAB-Map*

Nicolas Ragot, Redouane Khemmar, Adithya Pokala, Romain Rossi, Jean-Yves Ertaud
<span title="">2019</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/yjkjwbvofzhtxlsrrhqoim2tpq" style="color: black;">2019 Eighth International Conference on Emerging Security Technologies (EST)</a> </i> &nbsp;
The ORB SLAM has been implemented taking into account a monocular, stereo and RGB-D camera. RTAB SLAM, meanwhile, has only implemented with monocular and RGB-D camera.  ...  This works deals with a benchmark of two wellknown visual Simultaneous Localization and Mapping (vSLAM) algorithms: ORB-SLAM2 proposed by Mur-Atal & al in 2015 [7] and RTAB-Map proposed by [8] .  ...  Many thanks to Technological Resources Center (TRC) of ESIGELEC for his help in testing phase.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/est.2019.8806213">doi:10.1109/est.2019.8806213</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/est/RagotKPRE19.html">dblp:conf/est/RagotKPRE19</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/fd3lrzb5hjcodekyf3qc56dmfm">fatcat:fd3lrzb5hjcodekyf3qc56dmfm</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200313012838/https://hal.archives-ouvertes.fr/hal-02343341/file/EST_2019_KHEMMAR_RAGOT_ID_04.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/ec/ee/ecee1e4cf681569165405674f49f81342e864a1e.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/est.2019.8806213"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

SmartPortraits: Depth Powered Handheld Smartphone Dataset of Human Portraits for State Estimation, Reconstruction and Synthesis [article]

Anastasiia Kornilova, Marsel Faizullin, Konstantin Pakulev, Andrey Sadkov, Denis Kukushkin, Azat Akhmetyanov, Timur Akhtyamov, Hekmat Taherinejad, Gonzalo Ferrer
<span title="2022-04-21">2022</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
We provide a smartphone visual-inertial benchmark for portrait capturing, where we report results for multiple methods and motivate further use of the provided trajectories, available in the dataset, in  ...  , such as state estimation, 3D reconstruction, view synthesis, etc.  ...  A corollary of this: perhaps the solution is not to jointly optimize trajectories and maps, but simply optimize the map, allowing for small disturbances on the camera poses from a reasonable initial solution  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2204.10211v1">arXiv:2204.10211v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/xhoq4mp4wvfyjhwdw3u6xvhz7u">fatcat:xhoq4mp4wvfyjhwdw3u6xvhz7u</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20220424061226/https://arxiv.org/pdf/2204.10211v1.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/e7/57/e757fa16f4bd72ea0cfa2c110d58b76ec459c384.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2204.10211v1" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

A Vertex-to-Edge Weighted Closed-Form Method for Dense RGB-D Indoor SLAM

Shengjun Tang, You Li, Zhilu Yuan, Xiaoming Li, Renzhong Guo, YETING Zhang, Weixi Wang
<span title="">2019</span> <i title="Institute of Electrical and Electronics Engineers (IEEE)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/q7qi7j4ckfac7ehf3mjbso4hne" style="color: black;">IEEE Access</a> </i> &nbsp;
RGB-D dense mapping systems are widely used for indoor navigation and augmented reality. However, the drift in egomotion estimation systems accumulates as the systems expand over space and time.  ...  In this paper, we develop a vertex-to-edge weighted closed-form algorithm to reduce camera drift for dense RGB-D indoor simultaneous localization and mapping (SLAM).  ...  The method considers the internal calibration and external parameters for both the RGB and depth cameras, the baseline between the depth and RGB cameras, and the depth error model developed in our previous  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/access.2019.2900990">doi:10.1109/access.2019.2900990</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/nbp6cr6ajrgthplofdkgnzhsvi">fatcat:nbp6cr6ajrgthplofdkgnzhsvi</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20210429051709/https://ieeexplore.ieee.org/ielx7/6287639/8600701/08649628.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/db/be/dbbefe5e3a38cf943d479757d660994133f2e341.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/access.2019.2900990"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> ieee.com </button> </a>

A Novel Method for Extrinsic Calibration of Multiple RGB-D Cameras Using Descriptor-Based Patterns [article]

Hang Liu, Hengyu Li, Xiahua Liu, Jun Luo, Shaorong Xie, Yu Sun
<span title="2018-09-10">2018</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
This calibration problem is relevant to applications such as indoor 3D mapping and robot navigation that can benefit from a 360^∘ field of view using RGB-D cameras.  ...  This letter presents a novel method to estimate the relative poses between RGB-D cameras with minimal overlapping fields of view in a panoramic RGB-D camera system.  ...  Instead of the tedious estimation of useful trajectories for calibration, Fernandez-Moral et al. proposed to calibrate multiple cameras through planes and lines [9] , [17] .  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1807.07856v4">arXiv:1807.07856v4</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/flilj4v4mze2rmlw4cw4i56kzi">fatcat:flilj4v4mze2rmlw4cw4i56kzi</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200929153140/https://arxiv.org/pdf/1807.07856v4.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/fb/0c/fb0cf0a4cb6f1351deba58d7058f30f1e3a96105.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1807.07856v4" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

A New RGB-D SLAM Method with Moving Object Detection for Dynamic Indoor Scenes

Runzhi Wang, Wenhui Wan, Yongkang Wang, Kaichang Di
<span title="2019-05-14">2019</span> <i title="MDPI AG"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/kay2tsbijbawliu45dnhvyvgsq" style="color: black;">Remote Sensing</a> </i> &nbsp;
Simultaneous localization and mapping (SLAM) methods based on an RGB-D camera have been studied and used in robot navigation and perception.  ...  In this paper, a new RGB-D SLAM with moving object detection for dynamic indoor scenes is proposed.  ...  Acknowledgments: We thank Computer Vision Group from Technical University of Munich for making the RGB-D SLAM dataset publically available.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3390/rs11101143">doi:10.3390/rs11101143</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/xl2lmc7pivaz3e4es4bgku263i">fatcat:xl2lmc7pivaz3e4es4bgku263i</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200216181239/https://res.mdpi.com/d_attachment/remotesensing/remotesensing-11-01143/article_deploy/remotesensing-11-01143.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/21/eb/21ebedb19daa7bfc9052be853de64d4857d29d67.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3390/rs11101143"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> mdpi.com </button> </a>

KINECT BACKPACK FOR RAPID MOBILE INDOOR MAPPING

M. Bleier, J. van der Lucht, A. Nüchter
<span title="2022-05-17">2022</span> <i title="Copernicus GmbH"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/yhzu63ehjfe2dbswnsdfm5vlba" style="color: black;">ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences</a> </i> &nbsp;
In this paper, we present a mobile mapping backpack based on four Microsoft Kinect RGB-D sensors and an Intel T265 tracking camera. The data processing takes place in three steps.  ...  Starting with a first trajectory and map created using visual-inertial odometry, which is subsequently optimized by means of a continuous-time ICP.  ...  The authors thank the consortium partners Fraunhofer ISC and Awesome Technologies for the cooperation in the project.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.5194/isprs-annals-v-1-2022-121-2022">doi:10.5194/isprs-annals-v-1-2022-121-2022</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/td6dbh4d3fesxi3tyunwumtg3i">fatcat:td6dbh4d3fesxi3tyunwumtg3i</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20220518121929/https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/V-1-2022/121/2022/isprs-annals-V-1-2022-121-2022.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/06/75/06757e96e139ff6d35cb57d9298f9b37237d883a.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.5194/isprs-annals-v-1-2022-121-2022"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> Publisher / doi.org </button> </a>

A FREQUENCY-DRIFT COMPENSATED CLOSED-FORM SOLUTION FOR STEREO RGB-D MAPPING

S. J. Tang, Q. Zhu, W. Chen, W. X. Wang, Y. Li, W. Darwish, W. B. Li
<span title="2019-05-29">2019</span> <i title="Copernicus GmbH"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/yhzu63ehjfe2dbswnsdfm5vlba" style="color: black;">ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences</a> </i> &nbsp;
We present the mathematical analysis of the iterative optimizations for pose tracking in multi-RGB-D camera cases.  ...  Finally, the experiments in complex indoor scenarios demonstrate the efficiency of the proposed multiple RGB-D slam algorithm.</p>  ...  However, this work mainly concentrated on the intrinsic and extrinsic calibration and verify the effectiveness of mapping using multiply RGB-D cameras.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.5194/isprs-annals-iv-2-w5-293-2019">doi:10.5194/isprs-annals-iv-2-w5-293-2019</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/oebwnjalbvddthugzdteleop4a">fatcat:oebwnjalbvddthugzdteleop4a</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200208233313/https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/IV-2-W5/293/2019/isprs-annals-IV-2-W5-293-2019.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/96/86/968601b3a30ffbe31c3c1eeea3e958c3a809f85e.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.5194/isprs-annals-iv-2-w5-293-2019"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> Publisher / doi.org </button> </a>

A Novel Method for Extrinsic Calibration of Multiple RGB-D Cameras Using Descriptor-Based Patterns

Hang Liu, Hengyu Li, Xiahua Liu, Jun Luo, Shaorong Xie, Yu Sun
<span title="2019-01-16">2019</span> <i title="MDPI AG"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/taedaf6aozg7vitz5dpgkojane" style="color: black;">Sensors</a> </i> &nbsp;
This calibration problem is relevant to applications such as indoor 3D mapping and robot navigation that can benefit from a wider field of view using multiple RGB-D cameras.  ...  This paper presents a novel method to estimate the relative poses between RGB-D cameras with minimal overlapping fields of view.  ...  Acknowledgments: We thank Min Li and Zhihong Huang for assistance in constructing and testing the motion capture system, Xiang Gao et al. for the easily understandable explanation about SLAM in Ref.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3390/s19020349">doi:10.3390/s19020349</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/qjwyj6u5qjaqxldmgauwipc6zu">fatcat:qjwyj6u5qjaqxldmgauwipc6zu</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20190503223816/https://res.mdpi.com/sensors/sensors-19-00349/article_deploy/sensors-19-00349-v2.pdf?filename=&amp;attachment=1" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/6c/b7/6cb7924a52ace38c2e324a9cfac3274b5a6fdc72.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3390/s19020349"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> mdpi.com </button> </a>

Benchmarking Cameras for Open VSLAM Indoors

Kevin Chappellet, Guillaume Caron, Fumio Kanehiro, Ken Sakurada, Abderrahmane Kheddar
<span title="2021-01-10">2021</span> <i title="IEEE"> 2020 25th International Conference on Pattern Recognition (ICPR) </i> &nbsp;
HAL is a multi-disciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not.  ...  The documents may come from teaching and research institutions in France or abroad, or from public or private research centers.  ...  Thus, maps and camera poses are estimated at scale from one stereo-frame. B. RGB-D Features are extracted from the RGB frame.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icpr48806.2021.9413278">doi:10.1109/icpr48806.2021.9413278</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/bwmczxt6ffbxjo7xmmovwfehky">fatcat:bwmczxt6ffbxjo7xmmovwfehky</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20220108021021/https://hal.archives-ouvertes.fr/hal-02970830/file/output.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/4f/0f/4f0f3347b2ed1d4c88cca3e3d2af4c859b75c5e3.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icpr48806.2021.9413278"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>
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