3-D Mapping With an RGB-D Camera
3-D Mapping With an RGB-D Camera
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DOI：
10.1109/tro.2013.2279412
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发表时间：
2014-02-01
影响因子：
7.8
通讯作者：
Burgard, Wolfram
中科院分区：
文献类型：
--
作者：
Endres, Felix;Hess, Juergen;Burgard, Wolfram
在本文中，我们提出了一种新的地图系统，该系统使用RGB-D相机稳健地生成高精度的三维地图。我们的方法不需要进一步的传感器或里程计。随着低成本和轻质RGB-D传感器（如微软Kinect）的出现，我们的方法适用于小型家用机器人，如真空吸尘器，以及飞行机器人，如四轴飞行器。此外，我们的系统还可以用于详细的三维模型的徒手重建。除了系统本身之外，我们还对公开可用的基准数据集进行了全面的实验评估。我们分析和讨论了几个参数的影响，如特征描述符的选择、视觉特征的数量和验证方法。实验结果表明，我们的系统可以鲁棒地处理具有挑战性的场景，如快速相机运动和特征差的环境，同时足够快的在线运行。我们的系统是完全开源的，并且已经被机器人社区广泛采用。
In this paper, we present a novel mapping system that robustly generates highly accurate 3-D maps using an RGB-D camera. Our approach requires no further sensors or odometry. With the availability of low-cost and light-weight RGB-D sensors such as the Microsoft Kinect, our approach applies to small domestic robots such as vacuum cleaners, as well as flying robots such as quadrocopters. Furthermore, our system can also be used for free-hand reconstruction of detailed 3-D models. In addition to the system itself, we present a thorough experimental evaluation on a publicly available benchmark dataset. We analyze and discuss the influence of several parameters such as the choice of the feature descriptor, the number of visual features, and validation methods. The results of the experiments demonstrate that our system can robustly deal with challenging scenarios such as fast camera motions and feature-poor environments while being fast enough for online operation. Our system is fully available as open source and has already been widely adopted by the robotics community.