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Sensors 2016, 16(8), 1285;

RGB-D SLAM Based on Extended Bundle Adjustment with 2D and 3D Information

State Key Laboratory of Remote Sensing Science, Institute of Remote Sensing and Digital Earth, Chinese Academy of Sciences, No. 20A, Datun Road, Chaoyang District, Beijing 100101, China
University of Chinese Academy of Sciences, Beijing 100049, China
Author to whom correspondence should be addressed.
Academic Editors: Gabriel Oliver-Codina, Nuno Gracias and Antonio M. López
Received: 27 May 2016 / Revised: 4 August 2016 / Accepted: 9 August 2016 / Published: 13 August 2016
(This article belongs to the Special Issue Vision-Based Sensors in Field Robotics)
Full-Text   |   PDF [6126 KB, uploaded 13 August 2016]   |  


In the study of SLAM problem using an RGB-D camera, depth information and visual information as two types of primary measurement data are rarely tightly coupled during refinement of camera pose estimation. In this paper, a new method of RGB-D camera SLAM is proposed based on extended bundle adjustment with integrated 2D and 3D information on the basis of a new projection model. First, the geometric relationship between the image plane coordinates and the depth values is constructed through RGB-D camera calibration. Then, 2D and 3D feature points are automatically extracted and matched between consecutive frames to build a continuous image network. Finally, extended bundle adjustment based on the new projection model, which takes both image and depth measurements into consideration, is applied to the image network for high-precision pose estimation. Field experiments show that the proposed method has a notably better performance than the traditional method, and the experimental results demonstrate the effectiveness of the proposed method in improving localization accuracy. View Full-Text
Keywords: RGB-D camera; SLAM; projection model; bundle adjustment; Kinect RGB-D camera; SLAM; projection model; bundle adjustment; Kinect

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Di, K.; Zhao, Q.; Wan, W.; Wang, Y.; Gao, Y. RGB-D SLAM Based on Extended Bundle Adjustment with 2D and 3D Information. Sensors 2016, 16, 1285.

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