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research:vslam:rgbdslam [2017/05/22 13:06]
Robert Maier
research:vslam:rgbdslam [2017/08/08 12:48] (current)
Robert Maier
Line 1: Line 1:
 ====== Direct RGB-D SLAM ====== ====== Direct RGB-D SLAM ======
-Contact: [[members:kerl|Christian Kerl]], [[members:​maierr|Robert Maier]].+Contact: [[members:lingni|Lingni Ma]], [[members:​maierr|Robert Maier]].
  
 Our RGB-D SLAM system builds upon our Direct RGB-D Odometry (see below). It extends the odometry approach to include a geometric error term and perform frame-to-keyframe matching. Each new keyframe is inserted into a pose graph. Additionally we search for loop closures to older keyframes. These loop closures provide additional constraints for the pose graph. The graph is incrementally optimized using the g2o framework. The output of the SLAM system are metrically consistent poses for all frame. ​ Our RGB-D SLAM system builds upon our Direct RGB-D Odometry (see below). It extends the odometry approach to include a geometric error term and perform frame-to-keyframe matching. Each new keyframe is inserted into a pose graph. Additionally we search for loop closures to older keyframes. These loop closures provide additional constraints for the pose graph. The graph is incrementally optimized using the g2o framework. The output of the SLAM system are metrically consistent poses for all frame. ​

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