TY - GEN
T1 - An evaluation of the RGB-D SLAM system
AU - Endres, Felix
AU - Hess, Jürgen
AU - Engelhard, Nikolas
AU - Sturm, Jürgen
AU - Cremers, Daniel
AU - Burgard, Wolfram
PY - 2012
Y1 - 2012
N2 - 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, including a large set of sequences of different scenes with varying camera speeds and illumination conditions. In particular, we evaluate the accuracy, robustness, and processing time for three different feature descriptors (SIFT, SURF, and ORB). The experiments demonstrate that our system can robustly deal with difficult data in common indoor scenarios while being fast enough for online operation. Our system is fully available as open-source.
AB - 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, including a large set of sequences of different scenes with varying camera speeds and illumination conditions. In particular, we evaluate the accuracy, robustness, and processing time for three different feature descriptors (SIFT, SURF, and ORB). The experiments demonstrate that our system can robustly deal with difficult data in common indoor scenarios while being fast enough for online operation. Our system is fully available as open-source.
UR - http://www.scopus.com/inward/record.url?scp=84864435705&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2012.6225199
DO - 10.1109/ICRA.2012.6225199
M3 - Conference contribution
AN - SCOPUS:84864435705
SN - 9781467314039
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1691
EP - 1696
BT - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Y2 - 14 May 2012 through 18 May 2012
ER -