Low-cost 3D scene reconstruction for response robots in real-time

In this paper we discuss several methods for the creation of 3D models that can provide additional information to robot operators in order to improve their situation awareness of the robot being teleoperated. We derive the 3D models from spatial data gathered from an inexpensive, readily available, video game sensor. In addition, the paper introduces a new method for feature extraction as part of image registration in feature-sparse environments that operates in real-time.