Results 21 to 30 of about 1,569 (165)
An evaluation of the RGB-D SLAM system [PDF]
2012 IEEE International Conference on Robotics and Automation, 2012 We present an approach to simultaneous localization and mapping (SLAM) for RGB-D cameras like the Microsoft Kinect. Our system concurrently estimates the trajectory of a hand-held Kinect and generates a dense 3D model of the environment. We present the key features of our approach and evaluate its performance thoroughly on a recently published dataset,
Felix Endres +5 more
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A Robust Keyframe-Based Visual SLAM for RGB-D Cameras in Challenging Scenarios
IEEE Access, 2023 The accuracy of RGB-D SLAM systems is sensitive to the image quality, and can be significantly compromised in adverse situations such as when input images are blurry, lacking in texture features, or overexposed.
Xi Lin +6 more
doaj +1 more source
SID-SLAM: Semi-Direct Information-Driven RGB-D SLAM [PDF]
IEEE Robotics and Automation Letters, 2023 This work presents SID-SLAM, a complete SLAM framework for RGB-D cameras. Our main contribution is a semi-direct approach that, for the first time, combines tightly and indistinctly photometric and feature-based image measurements. Additionally, SID-SLAM uses information metrics to reduce the state size with a minimal impact in the accuracy.
Fontan, Alejandro +4 more
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PLD-SLAM: A New RGB-D SLAM Method with Point and Line Features for Indoor Dynamic Scene
ISPRS International Journal of Geo-Information, 2021 RGB-D SLAM (Simultaneous Localization and Mapping) generally performs smoothly in a static environment. However, in dynamic scenes, dynamic features often cause wrong data associations, which degrade accuracy and robustness.
Chenyang Zhang +3 more
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, 2019 This is the pre-submission version of the manuscript that was later edited and published as a chapter in RGB-D Image Analysis and ...
Javier Civera 0001, Seong Hun Lee
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DDL-SLAM: A Robust RGB-D SLAM in Dynamic Environments Combined With Deep Learning
IEEE Access, 2020 Visual Simultaneous Localization and Mapping (VSLAM) has developed as the basic ability of robots in past few decades. There are a lot of open-sourced and impressive SLAM systems.
Yongbao Ai +5 more
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Research on SLAM Algorithm of Mobile Robot Based on the Fusion of 2D LiDAR and Depth Camera
IEEE Access, 2020 This paper proposes a new Simultaneous Localization and Mapping (SLAM) method on the basis of graph-based optimization through the combination of the Light Detection and Ranging (LiDAR), RGB-D camera, encoder and Inertial Measurement Unit (IMU).
Lili Mu +5 more
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Multi-Feature Nonlinear Optimization Motion Estimation Based on RGB-D and Inertial Fusion
Sensors, 2020 To achieve a high precision estimation of indoor robot motion, a tightly coupled RGB-D visual-inertial SLAM system is proposed herein based on multiple features.
Xiongwei Zhao, Cunxiao Miao, He Zhang
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AN RGB-D DATA PROCESSING FRAMEWORK BASED ON ENVIRONMENT CONSTRAINTS FOR MAPPING INDOOR ENVIRONMENTS [PDF]
ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, 2019 The adoption of RGB and depth (RGB-D) sensors for surveying applications (i.e., building information modeling [BIM], indoor navigation, and three-dimensional [3D] models) to replace expensive and time-consuming methods (e.g., stereo cameras, laser ...
W. Darwish +5 more
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Dense visual SLAM for RGB-D cameras [PDF]
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013 In this paper, we propose a dense visual SLAM method for RGB-D cameras that minimizes both the photometric and the depth error over all pixels. In contrast to sparse, feature-based methods, this allows us to better exploit the available information in the image data which leads to higher pose accuracy.
Christian Kerl +2 more
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