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2017 | OriginalPaper | Buchkapitel

Real-Time 3D Modeling with a RGB-D Camera and On-Board Processing

verfasst von : Wilbert G. Aguilar, Guillermo A. Rodríguez, Leandro Álvarez, Sebastián Sandoval, Fernando Quisaguano, Alex Limaico

Erschienen in: Augmented Reality, Virtual Reality, and Computer Graphics

Verlag: Springer International Publishing

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Abstract

In this article we present a three dimensional modeling system that generates precise real-time mapping using a RGB-D camera. With the use of the light weight sensors Microsoft Kinect and small and powerful computers like the Intel Stick Core M3 Processor, our system can run all the computation and sensing required to smoothly run SLAM (Simultaneous Localization and Mapping) on-board and in real-time, removing the dependence on unreliable wireless communication. We use visual odometry, loop closure and graph optimization. Our approach is capable of generating accurate maps of several objects analyzing the data yielded by several tests of the system.

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Titel: Real-Time 3D Modeling with a RGB-D Camera and On-Board Processing
verfasst von: Wilbert G. Aguilar
Guillermo A. Rodríguez
Leandro Álvarez
Sebastián Sandoval
Fernando Quisaguano
Alex Limaico
Verlag: Springer International Publishing
Buch: Augmented Reality, Virtual Reality, and Computer Graphics
Print ISBN: 978-3-319-60927-0

Electronic ISBN: 978-3-319-60928-7

Copyright-Jahr: 2017
DOI: https://doi.org/10.1007/978-3-319-60928-7_35

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