NDLI: A Combined Approach Toward Consistent Reconstructions of Indoor Spaces Based on 6D RGB-D Odometry and KinectFusion

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ACM Transactions on Intelligent Systems and Technology (TIST) : Volume 8

ACM Transactions on Intelligent Systems and Technology (TIST) : Volume 7

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Issue 4(Regular Papers and Special Section on Intelligent Healthcare Informatics), August 2015

Issue 3(Survey Paper, Regular Papers and Special Section on Participatory Sensing and Crowd Intelligence), May 2015

Issue 2(Special Section on Visual Understanding with RGB-D Sensors), May 2015

Visual Understanding with RGB-D Sensors: An Introduction to the Special Issue

Kinect Depth Recovery Using a Color-Guided, Region-Adaptive, and Depth-Selective Framework

Depth Error Elimination for RGB-D Cameras

A Combined Approach Toward Consistent Reconstructions of Indoor Spaces Based on 6D RGB-D Odometry and KinectFusion

Robust Multiview Feature Learning for RGB-D Image Understanding

From RGB-D Images to RGB Images: Single Labeling for Mining Visual Models

Accurate and Robust Moving-Object Segmentation for Telepresence Systems

Fusing Multiple Features for Depth-Based Action Recognition

An Evaluation of Gamesourced Data for Human Pose Estimation

Latent Support Vector Machine Modeling for Sign Language Recognition with Kinect

A Real-Time Hand Posture Recognition System Using Deep Neural Networks

Real-Time System for Driver Fatigue Detection by RGB-D Camera

An Approach to Ballet Dance Training through MS Kinect and Visualization in a CAVE Virtual Reality Environment

Exploring Spatial Correlation for Visual Object Retrieval

Pattern Matching Techniques for Replacing Missing Sections of Audio Streamed across Wireless Networks

An Association-Based Unified Framework for Mining Features and Opinion Words

A Hybrid Multigroup Coclustering Recommendation Framework Based on Information Fusion

Data Mining of Online Genealogy Datasets for Revealing Lifespan Patterns in Human Population

Issue 1, April 2015

ACM Transactions on Intelligent Systems and Technology (TIST) : Volume 5

ACM Transactions on Intelligent Systems and Technology (TIST) : Volume 4

ACM Transactions on Intelligent Systems and Technology (TIST) : Volume 3

ACM Transactions on Intelligent Systems and Technology (TIST) : Volume 2

ACM Transactions on Intelligent Systems and Technology (TIST) : Volume 1

A Combined Approach Toward Consistent Reconstructions of Indoor Spaces Based on 6D RGB-D Odometry and KinectFusion

Content Provider	ACM Digital Library
Author	Dong, Haiwei Saddik, Abdulmotaleb El Figueroa, Nadia
Copyright Year	2015
Abstract	We propose a 6D RGB-D odometry approach that finds the relative camera pose between consecutive RGB-D frames by keypoint extraction and feature matching both on the RGB and depth image planes. Furthermore, we feed the estimated pose to the highly accurate KinectFusion algorithm, which uses a fast ICP (Iterative Closest Point) to fine-tune the frame-to-frame relative pose and fuse the depth data into a global implicit surface. We evaluate our method on a publicly available RGB-D SLAM benchmark dataset by Sturm et al. The experimental results show that our proposed reconstruction method solely based on visual odometry and KinectFusion outperforms the state-of-the-art RGB-D SLAM system accuracy. Moreover, our algorithm outputs a ready-to-use polygon mesh (highly suitable for creating 3D virtual worlds) without any postprocessing steps.
Starting Page	1
Ending Page	10
Page Count	10
File Format	PDF
ISSN	21576904
e-ISSN	21576912
DOI	10.1145/2629673
Volume Number	6
Issue Number	2
Journal	ACM Transactions on Intelligent Systems and Technology (TIST)
Language	English
Publisher	Association for Computing Machinery (ACM)
Publisher Date	2015-03-31
Publisher Place	New York
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Indoor mapping Benchmark datasets Evaluation Kinect
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Theoretical Computer Science

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

A Combined Approach Toward Consistent Reconstructions of Indoor Spaces Based on 6D RGB-D Odometry and KinectFusion

Towards consistent reconstructions of indoor spaces based on 6D RGB-D odometry and KinectFusion

RGB-D mapping: Using Kinect-style depth cameras for dense 3D modeling of indoor environments (2012)

Point Cloud Mapping Measurements Using Kinect RGB-D Sensor and Kinect Fusion for Visual Odometry

Fast RGB-D people tracking for service robots

A real-time method for depth enhanced visual odometry

Indoor Scene Understanding with RGB-D Images: Bottom-up Segmentation, Object Detection and Semantic Segmentation

Robust RGB-D Odometry Using Point and Line Features

Experimental Evaluation of RGB-D Visual Odometry Methods

A Combined Approach Toward Consistent Reconstructions of Indoor Spaces Based on 6D RGB-D Odometry and KinectFusion

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