A robust RGB-D SLAM system for 3D environment with planar surfaces.

Po-Chang Su Ju Shen Sen-Ching S. Cheung

Published in: ICIP (2013)

Keyphrases

planar surfaces
indoor environments
mobile robot
mobile robotics
depth images
planar regions
d scene
perspective projection
image pairs
simultaneous localization and mapping
multiple views
stereo images
particle filter
field of view
d objects
ground plane
robust estimation
computer vision