A benchmark for RGB-D visual odometry, 3D reconstruction and SLAM.
Ankur HandaThomas WhelanJohn McDonaldAndrew J. DavisonPublished in: ICRA (2014)
Keyphrases
- visual odometry
- simultaneous localization and mapping
- depth images
- rgb d camera
- indoor environments
- autonomous navigation
- mobile robot
- ego motion
- long range
- depth information
- structure from motion
- kalman filtering
- camera pose
- depth map
- pose estimation
- d scene
- kalman filter
- extended kalman filter
- data association
- mobile robotics
- three dimensional
- dynamic environments
- particle filter
- position information
- random forests
- field of view
- point cloud
- optical flow
- object recognition
- computer vision
- color information
- dynamic scenes
- robot navigation
- range data
- missing data