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3D indoor mapping using a RGB-D camera system

The paper proposes with an application of a RGB Depth (RGB-D) camera system in 3D indoor mapping. In order to reconstruct the 3D model of an indoor space where the robot is located, the RGB-D camera system is installed in the robot frame to continuously capture the separate 2D image frames. All corresponding 2D points between the two consecutive image frames are firstly estimated using a Scan Invariant Feature Transform (SIFT) algorithm.

Từ khóa: RGB-D camera system, 3D indoor mapping, SIFT, transformation matrix, point clouds

10 p ovanketv 04/06/2018 455 1

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