ICRA 2012 Paper Abstract


Paper TuD08.5

Endres, Felix (University of Freiburg), Hess, Juergen Michael (University of Freiburg), Engelhard, Nikolas (University of Freiburg), Sturm, Jürgen (Technical University of Munich), Cremers, Daniel (Technical University of Munich), Burgard, Wolfram (University of Freiburg)

An Evaluation of the RGB-D SLAM System

Scheduled for presentation during the Regular Session "RGB-D Localization and Mapping" (TuD08), Tuesday, May 15, 2012, 17:30−17:45, Meeting Room 8 (Wacipi)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on August 21, 2018

Keywords SLAM, Mapping, Robotic Software, Middleware and Programming Environments


We present an approach to simultaneous localization and mapping (SLAM) for RGB-D cameras like the Microsoft Kinect. Our system concurrently estimates the trajectory of a hand-held Kinect and generates a dense 3D model of the environment. We present the key features of our approach and evaluate its performance thoroughly on a recently published dataset, including a large set of sequences of different scenes with varying camera speeds and illumination conditions. In particular, we evaluate the accuracy, robustness, and processing time for three different feature descriptors (SIFT, SURF, and ORB). The experiments demonstrate that our system can robustly deal with difficult data in common indoor scenarios while being fast enough for online operation. Our system is fully available as open-source.



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