Name
Abstract | ||
|---|---|---|
We present a novel approach to real-time dense visual simultaneous localisation and mapping. Our system is capable of capturing comprehensive dense globally consistent surfel-based maps of room scale environments and beyond explored using an RGB-D camera in an incremental online fashion, without pose graph optimization or any post-processing steps. This is accomplished by using dense frame-to-model camera tracking and windowed surfel-based fusion coupled with frequent model refinement through non-rigid surface deformations. Our approach applies local model-to-model surface loop closure optimizations as often as possible to stay close to the mode of the map distribution, while utilizing global loop closure to recover from arbitrary drift and maintain global consistency. In the spirit of improving map quality as well as tracking accuracy and robustness, we furthermore explore a novel approach to real-time discrete light source detection. This technique is capable of detecting numerous light sources in indoo... |
Year | DOI | Venue |
|---|---|---|
2016 | http://dx.doi.org/10.1177/0278364916669237 | I. J. Robotics Res. |
Keywords | Field | DocType |
Surfel fusion,camera pose estimation,dense methods,large scale,real-time,RGB-D,SLAM,GPU,light sources,reflections,specular | Computer vision,Mode (statistics),Specular reflection,Model refinement,Robustness (computer science),RGB color model,Artificial intelligence,Global consistency,Light source,Mathematics,Surfel | Journal |
Volume | Issue | ISSN |
35 | 14 | 0278-3649 |
Citations | PageRank | References |
11 | 0.91 | 0 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Thomas Whelan | 1 | 465 | 16.31 |
| Renato F. Salas-Moreno | 2 | 199 | 5.10 |
| Ben Glocker | 3 | 2157 | 119.81 |
| Andrew J. Davison | 4 | 6707 | 350.85 |
| Stefan Leutenegger | 5 | 1379 | 61.81 |