Indoor Localization and 3D Scene Reconstruction for Mobile Robots Using the Microsoft Kinect Sensor

被引：0
|
作者：
Zou, Yuhua [1 ]
Chen, Weihai [1 ]
Wu, Xingming [1 ]
Liu, Zhong [1 ]
机构：
[1] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China
来源：
2012 10TH IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL INFORMATICS (INDIN) | 2012年
关键词：
MOTION;
D O I：
暂无
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper we present an approach to indoor localization and 3D scene reconstruction using the Microsoft Kinect sensor. The proposed system can simultaneously estimates the position and orientation of a hand-held Kinect and generates a dense 3D model of the indoor environment. Furthermore, the robustness and processing time for four different feature descriptors (SURF, ORB, Shi-Tomasi and FAST) are evaluated. The experiment results demonstrate that our system can robustly deal with complicated data in common indoor scenarios while running in semi-real-time.
引用
收藏
页码：1182 / 1187
页数：6
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