Cart (Loading....) | Create Account
Close category search window

Integrating depth and color cues for dense multi-resolution scene mapping using RGB-D cameras

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Stuckler, J. ; Autonomous Intell. Syst. Group, Univ. of Bonn, Bonn, Germany ; Behnke, S.

The mapping of environments is a prerequisite for many navigation and manipulation tasks. We propose a novel method for acquiring 3D maps of indoor scenes from a freely moving RGB-D camera. Our approach integrates color and depth cues seamlessly in a multi-resolution map representation. We consider measurement noise characteristics and exploit dense image neighborhood to rapidly extract maps from RGB-D images. An efficient ICP variant allows maps to be registered in real-time at VGA resolution on a CPU. For simultaneous localization and mapping, we extract key views and optimize the trajectory in a probabilistic framework. Finally, we propose an efficient randomized loop-closure technique that is designed for on-line operation. We benchmark our method on a publicly available RGB-D dataset and compare it with a state-of-the-art approach that uses sparse image features.

Published in:

Multisensor Fusion and Integration for Intelligent Systems (MFI), 2012 IEEE Conference on

Date of Conference:

13-15 Sept. 2012

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.