A robust RGB-D SLAM algorithm

Gibson Hu*, Shoudong Huang, Liang Zhao, Alen Alempijevic, Gamini Dissanayake

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Recently RGB-D sensors have become very popular in the area of Simultaneous Localisation and Mapping (SLAM). The major advantage of these sensors is that they provide a rich source of 3D information at relatively low cost. Unfortunately, these sensors in their current forms only have a range accuracy of up to 4 metres. Many techniques which perform SLAM using RGB-D cameras rely heavily on the depth and are restrained to office type and geometrically structured environments. In this paper, a switching based algorithm is proposed to heuristically choose between RGB-BA and RGBD-BA based local maps building. Furthermore, a low cost and consistent optimisation approach is used to join these maps. Thus the potential of both RGB and depth image information are exploited to perform robust SLAM in more general indoor cases. Validation of the proposed algorithm is performed by mapping a large scale indoor scene where traditional RGB-D mapping techniques are not possible.
Original languageEnglish
Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers
Pages1714-1719
Number of pages6
ISBN (Print)9781467317375
DOIs
Publication statusPublished - 20 Dec 2012
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems - Vilamoura, Algarve, Portugal
Duration: 7 Oct 201212 Oct 2012

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference25th IEEE/RSJ International Conference on Robotics and Intelligent Systems
Abbreviated titleIROS 2012
Country/TerritoryPortugal
CityVilamoura, Algarve
Period7/10/1212/10/12

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