A Method for Registration of 3-D Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
Object modelling by registration of multiple range images
Image and Vision Computing - Special issue: range image understanding
Modeling and rendering architecture from photographs: a hybrid geometry- and image-based approach
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
MLESAC: a new robust estimator with application to estimating image geometry
Computer Vision and Image Understanding - Special issue on robusst statistical techniques in image understanding
Surfels: surface elements as rendering primitives
Proceedings of the 27th annual conference on Computer graphics and interactive techniques
ICP Registration Using Invariant Features
IEEE Transactions on Pattern Analysis and Machine Intelligence
Globally Consistent Range Scan Alignment for Environment Mapping
Autonomous Robots
Bundle Adjustment - A Modern Synthesis
ICCV '99 Proceedings of the International Workshop on Vision Algorithms: Theory and Practice
Registration and integration of textured 3-D data
NRC '97 Proceedings of the International Conference on Recent Advances in 3-D Digital Imaging and Modeling
An Efficient Solution to the Five-Point Relative Pose Problem
IEEE Transactions on Pattern Analysis and Machine Intelligence
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Photo tourism: exploring photo collections in 3D
ACM SIGGRAPH 2006 Papers
Scalable Recognition with a Vocabulary Tree
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 2
Towards Urban 3D Reconstruction from Video
3DPVT '06 Proceedings of the Third International Symposium on 3D Data Processing, Visualization, and Transmission (3DPVT'06)
Detailed Real-Time Urban 3D Reconstruction from Video
International Journal of Computer Vision
Pose estimation and map building with a Time-Of-Flight-camera for robot navigation
International Journal of Intelligent Systems Technologies and Applications
Keypoint Signatures for Fast Learning and Recognition
ECCV '08 Proceedings of the 10th European Conference on Computer Vision: Part I
SBA: A software package for generic sparse bundle adjustment
ACM Transactions on Mathematical Software (TOMS)
AAAI'04 Proceedings of the 19th national conference on Artifical intelligence
Improving simultaneous mapping and localization in 3D using global constraints
AAAI'05 Proceedings of the 20th national conference on Artificial intelligence - Volume 3
Navigating, Recognizing and Describing Urban Spaces With Vision and Lasers
International Journal of Robotics Research
Three-dimensional mapping with time-of-flight cameras
Journal of Field Robotics - Three-Dimensional Mapping, Part 2
6D scan registration using depth-interpolated local image features
Robotics and Autonomous Systems
The self-referenced DLR 3D-modeler
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Accurate, Dense, and Robust Multiview Stereopsis
IEEE Transactions on Pattern Analysis and Machine Intelligence
Interactive 3D modeling of indoor environments with a consumer depth camera
Proceedings of the 13th international conference on Ubiquitous computing
Manipulator and object tracking for in-hand 3D object modeling
International Journal of Robotics Research
Machine learning for high-speed corner detection
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part I
Real-time human pose recognition in parts from single depth images
CVPR '11 Proceedings of the 2011 IEEE Conference on Computer Vision and Pattern Recognition
FrameSLAM: From Bundle Adjustment to Real-Time Visual Mapping
IEEE Transactions on Robotics
The University of Pennsylvania MAGIC 2010 multi-robot unmanned vehicle system
Journal of Field Robotics
An interactive approach to semantic modeling of indoor scenes with an RGBD camera
ACM Transactions on Graphics (TOG) - Proceedings of ACM SIGGRAPH Asia 2012
Using the Kinect as a navigation sensor for mobile robotics
Proceedings of the 27th Conference on Image and Vision Computing New Zealand
Dense scene reconstruction with points of interest
ACM Transactions on Graphics (TOG) - SIGGRAPH 2013 Conference Proceedings
Real-time 3D reconstruction at scale using voxel hashing
ACM Transactions on Graphics (TOG)
Guided depth enhancement via a fast marching method
Image and Vision Computing
Proceedings of the 12th ACM SIGGRAPH International Conference on Virtual-Reality Continuum and Its Applications in Industry
Path planning in complex 3D environments using a probabilistic roadmap method
International Journal of Automation and Computing
Multi-resolution surfel maps for efficient dense 3D modeling and tracking
Journal of Visual Communication and Image Representation
Live RGB-D camera tracking for television production studios
Journal of Visual Communication and Image Representation
Journal of Visual Communication and Image Representation
Contextual object category recognition for RGB-D scene labeling
Robotics and Autonomous Systems
Journal of Intelligent and Robotic Systems
Hi-index | 0.00 |
RGB-D cameras (such as the Microsoft Kinect) are novel sensing systems that capture RGB images along with per-pixel depth information. In this paper we investigate how such cameras can be used for building dense 3D maps of indoor environments. Such maps have applications in robot navigation, manipulation, semantic mapping, and telepresence. We present RGB-D Mapping, a full 3D mapping system that utilizes a novel joint optimization algorithm combining visual features and shape-based alignment. Visual and depth information are also combined for view-based loop-closure detection, followed by pose optimization to achieve globally consistent maps. 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.