RGB-D Mapping: Using Depth Cameras for Dense 3D Mapping
http://www.cs.washington.edu/ai/Mobile_Robotics/projects/rgbd-3d-mappingSimultaneous localization and mapping (SLAM) has been a major focus of mobile robotics work for decades. We combine state-of-the-art visual odometry and pose-graph estimation techniques with a combined color and depth camera to do SLAM to make accurate, dense maps of indoor environments. Adding depth to conventional color-camera techniques improves both the accuracy and the denseness of our maps.
This project is affiliated with the Robotics and State Estimation Lab.
Publications
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Interactive 3D Modeling of Indoor Environments with a Consumer Depth Camera Hao Du, Peter Henry, Xiaofeng Ren, Marvin Cheng, Dan B Goldman, Steven Seitz and Dieter Fox International Conference on Ubiquitous Computing, 2011. Full Paper (PDF) |
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Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera Albert S. Huang, Abraham Bachrach, Peter Henry, Michael Krainin, Daniel Maturana and Dieter Fox International Symposium on Robotics Research, 2011. Full Paper (PDF) |
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RGB-D Mapping: Using Depth Cameras for Dense 3D Modeling of Indoor Environments Peter Henry, Michael Krainin, Evan Herbst, Xiaofeng Ren and Dieter Fox International Symposium on Experimental Robotics, 2010. Paper (PDF) |