DeepAI AI Chat
Log In Sign Up

Robust Keyframe-based Dense SLAM with an RGB-D Camera

11/14/2017
by   Haomin Liu, et al.
Zhejiang University
0

In this paper, we present RKD-SLAM, a robust keyframe-based dense SLAM approach for an RGB-D camera that can robustly handle fast motion and dense loop closure, and run without time limitation in a moderate size scene. It not only can be used to scan high-quality 3D models, but also can satisfy the demand of VR and AR applications. First, we combine color and depth information to construct a very fast keyframe-based tracking method on a CPU, which can work robustly in challenging cases (e.g. fast camera motion and complex loops). For reducing accumulation error, we also introduce a very efficient incremental bundle adjustment (BA) algorithm, which can greatly save unnecessary computation and perform local and global BA in a unified optimization framework. An efficient keyframe-based depth representation and fusion method is proposed to generate and timely update the dense 3D surface with online correction according to the refined camera poses of keyframes through BA. The experimental results and comparisons on a variety of challenging datasets and TUM RGB-D benchmark demonstrate the effectiveness of the proposed system.

READ FULL TEXT

page 4

page 8

page 9

11/21/2022

ESLAM: Efficient Dense SLAM System Based on Hybrid Representation of Signed Distance Fields

We present ESLAM, an efficient implicit neural representation method for...
05/12/2021

ROSEFusion: Random Optimization for Online Dense Reconstruction under Fast Camera Motion

Online reconstruction based on RGB-D sequences has thus far been restrai...
10/01/2018

SurfelMeshing: Online Surfel-Based Mesh Reconstruction

We address the problem of mesh reconstruction from live RGB-D video, ass...
03/31/2023

LivePose: Online 3D Reconstruction from Monocular Video with Dynamic Camera Poses

Dense 3D reconstruction from RGB images traditionally assumes static cam...
04/20/2018

High Dynamic Range SLAM with Map-Aware Exposure Time Control

The research in dense online 3D mapping is mostly focused on the geometr...
03/21/2019

Quotienting Impertinent Camera Kinematics for 3D Video Stabilization

With the recent advent of methods that allow for real-time computation, ...
11/07/2021

Online Mutual Adaptation of Deep Depth Prediction and Visual SLAM

The ability of accurate depth prediction by a CNN is a major challenge f...