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A Robust Rgb-D Slam System For 3d Environment With Planar Surfaces, Po-Chang Su
A Robust Rgb-D Slam System For 3d Environment With Planar Surfaces, Po-Chang Su
Theses and Dissertations--Electrical and Computer Engineering
Simultaneous localization and mapping is the technique to construct a 3D map of unknown environment. With the increasing popularity of RGB-depth (RGB-D) sensors such as the Microsoft Kinect, there have been much research on capturing and reconstructing 3D environments using a movable RGB-D sensor. The key process behind these kinds of simultaneous location and mapping (SLAM) systems is the iterative closest point or ICP algorithm, which is an iterative algorithm that can estimate the rigid movement of the camera based on the captured 3D point clouds. While ICP is a well-studied algorithm, it is problematic when it is used in …