Abstract
In this article we present a three dimensional modeling system that generates precise real-time mapping using a RGB-D camera. With the use of the light weight sensors Microsoft Kinect and small and powerful computers like the Intel Stick Core M3 Processor, our system can run all the computation and sensing required to smoothly run SLAM (Simultaneous Localization and Mapping) on-board and in real-time, removing the dependence on unreliable wireless communication. We use visual odometry, loop closure and graph optimization. Our approach is capable of generating accurate maps of several objects analyzing the data yielded by several tests of the system.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
May, S., Droschel, D., Holz, D., Fuchs, E., Malis, S., Nuchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight cameras. J. Field Robot. 26(1), 11–12 (2009)
Thrun, S., Burgard, W., Fox, D.: A real-time algorithm for mobile robot mapping with applications to multi-robot and 3D mapping. In: Proceedings of the IEEE International Conference on Robotics & Automation (2000)
Furukawa, Y., Curless, B., Seitz, S., Szeliski, R.: Reconstructing building interiors from images. In: Proceedings of the International Conference on Computer Vision (2009)
Clemente, L., Davison, A., Reid, I., Neira, J., Tardos, J.: Mapping large loops with a single hand-held camera. In: Proceedings of Robotics: Science and Systems (2007)
Konolige, K., Agrawal, M.: FrameSLAM: from bundle adjustment to real-time visual mapping. IEEE Trans. Rob. 25, 5 (2008)
Whelan, T., Kaess, M., Leonard, J., McDonald, J.: Deformation based loop closure for large scale dense RGB-D SLAM. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (2013)
Kerl, C., Sturm, J., Cremers, D.: Dense visual slam for RGB-D cameras. In: Proceedings of the International Conference on Intelligent Robot Systems (IROS) (2013)
Michaud, M., Labbe, F.: Appearance-based loop closure detection for online large-scale and long-term operation. IEEE Trans. Rob. 29(3), 734–745 (2013)
Michaud, M., Labbe, F.: Online global loop closure detection for large-scale multi-session graph-based SLAM. In: Proceedings IEEE/RSJ International Conference Intelligent Robotic Systems, pp. 2661–2666 (2014)
Thrun, S.: Robotic mapping: A survey. Exploring Artificial Intelligence in the New Millennium (2003)
Grisetti, G., Grzonka, S., Stachniss, C., Pfaff, P., Burgard, W.: Efficient estimation of accurate maximum likelihood maps in 3d. In: Proceedings of the International Conference on Intelligent Robots and Systems (IROS), 2007
Dellaert, F.: Square root SAM. In: Proceedings of Robotics: Science and Systems (RSS), pp. 177–184 (2005)
Kaess, M., Ranganathan, A., Dellaert, F.: iSAM: Incremental smoothing and mapping. IEEE Trans. Robot. 24(6), 1365–1378 (2008)
Jin, H., Favaro, P., Soatto, S.: Real-time 3-D motion and structure of point features: front-end system for vision-based control and interaction. In: IEEE Conference on Computer Vision and Pattern Recognition (CVPR) (2000)
Stuhmer, J., Gumhold, S., Cremers, D.: Real-time dense geometry from a handheld camera. In: DAGM Symposium on Pattern Recognition (DAGM) (2010)
Aguilar, W.G., Angulo, C.: Estabilización de vídeo en micro vehículos aéreos y su aplicación en la detección de caras. In: IX Congreso de Ciencia y Tecnología ESPE, Sangolquí, Ecuador (2014)
Aguilar, W.G., Angulo, C.: Estabilización robusta de vídeo basada en diferencia de nivel de gris. In: VIII Congreso de Ciencia y Tecnología ESPE, Sangolquí, Ecuador (2013)
Aguilar, W.G., Angulo, C.: Compensación y aprendizaje de efectos generados en la imagen durante el desplazamiento de un robot. In: X Simposio CEA de Ingeniería de Control, Barcelona, Spain (2012)
Aguilar, W.G., Angulo, C.: Compensación de los efectos generados en la imagen por el control de navegación del robot Aibo ERS 7. In: VII Congreso de Ciencia y Tecnología ESPE, Sangolquí, Ecuador (2012)
Aguilar, W.G., Verónica, C., José, P.: Obstacle avoidance based-visual navigation for micro aerial vehicles. Electronics 6(1), 10 (2017)
Aguilar, W.G., Morales, S.: 3D Environment Mapping Using the Kinect V2 and Path Planning Based on RRT Algorithms. Electronics 5(4), 70 (2016)
Cabras, P., Rosell, J., Pérez, A., Aguilar, W.G., Rosell, A.: Haptic-based navigation for the virtual bronchoscopy. In: 18th IFAC World Congress, Milano, Italy (2011)
Aguilar, W.G., Angulo, C., Costa, R., Molina, L.: Control autónomo de cuadricópteros para seguimiento de trayectorias. In: IX Congreso de Ciencia y Tecnología ESPE, Sangolquí, Ecuador (2014)
Murray, G., Klein, D.: Parallel tracking and mapping for small AR workspaces. In: Proceedings IEEE and ACM International Symposium on Mixed and Augmented Reality (ISMAR) (2007)
Strasdat, H., Montiel, J.M., Davison, A.: Scale drift-aware large scale monocular slam. In: Proceedings of Robotics: Science and Systems (2010)
Aguilar, W.G., Angulo, C.: Real-time model-based video stabilization for microaerial vehicles. Neural Process. Lett. 43(2), 459–477 (2016)
Aguilar, W.G., Angulo, C.: Real-time video stabilization without phantom movements for micro aerial vehicles. EURASIP J. Image Video Process. 1, 1–13 (2014)
Aguilar, W.G., Angulo, C.: Robust video stabilization based on motion intention for low-cost micro aerial vehicles. In: 11th International Multi-Conference on Systems
Zisserman, J., Sivic, A.: Video Google: a text retrieval approach to object matching in videos. In: Proceedings 9th International Conference on Computer Vision, pp. 1470–1478 (2003)
Botterill, T., Mills, S., Green, R.: Bag-of-words-driven, single-camera simultaneous localization and mapping. J. Field Rob. 28(2), 204–226 (2011)
Konolige, K., Bowman, J., Chen, J., Mihelich, P., Calonder, M., Lepetit, V., Fua, P.: View-based maps. Int. J. Rob. Res. 29(8), 941–957 (2010)
Christensen, H.I., Folkesson, J.: Closing the loop with graphical SLAM. IEEE Trans. Rob. 23(4), 731–741 (2007)
Johannsson, H., Kaess, M., Fallon, M., Leonard, J.J.: Temporally scalable visual SLAM using a reduced pose graph. In: RSS Workshop on Long-term Operation of Autonomous Robotic Systems in Changing Environments (2012)
Montemerlo, M., Thrun, S., Koller, D., Wegbreit, B.: FastSLAM: a factored solution to the simultaneous localization and mapping problem. In: Proceedings of the National Conference on Artificial Intelligence (AAAI) (2012)
Grisetti, G., Stachniss, C., Burgard, W.: Improved techniques for grid mapping with rao-blackwellized particle filters. IEEE Trans. Robot. (T-RO) 23, 34–46 (2007)
Weiss, S., Scaramuzza, D., Siegwart, R.: Monocular-SLAM-based navigation for autonomous micro helicopters in GPS-denied environments. J. Field Robot 28(6), 854–874 (2011)
Mur-Artal, R., Montiel, J., Tardo, J.: ORB-SLAM: a versatile and accurate monocular SLAM system. IEEE Trans. Robot. 31(5), 1147–1163 (2015)
Engelhard, N., Endres, F., Hess, J., Sturm, J., Burgard, W.: Realtime 3D visual SLAM with a hand-held RGB-D camera. In: RGB-D Workshop on 3D Perception in Robotics at the European Robotics Forum (2011)
Fraundorfer, F., Heng, L., Honegger, D., Lee, G., Meier, L., Tanskanen, P., Pollefeys, M.: Vision-based autonomous mapping and exploration using a quadrotor MAV. In: Intelligent Robots and Systems (IROS) (2012)
Audras, C., Comport, A., Meilland, M., Rives, P.: Real-time dense appearance-based SLAM for RGB-D sensors. In: Australasian Conference on Robotics and Automation (2011)
Bolles, M.A., Fischler, R.C.: Random sample consensus: a paradigm for model fitting with apphcatlons to image analysis and automated cartography. Commun. ACM 24, 381–395 (1981)
Acknowledgement
This work is part of the projects VisualNavDrone 2016-PIC-024 and MultiNavCar 2016-PIC-025, from the Universidad de las Fuerzas Armadas ESPE, directed by Dr. Wilbert G. Aguilar.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this paper
Cite this paper
Aguilar, W.G., Rodríguez, G.A., Álvarez, L., Sandoval, S., Quisaguano, F., Limaico, A. (2017). Real-Time 3D Modeling with a RGB-D Camera and On-Board Processing. In: De Paolis, L., Bourdot, P., Mongelli, A. (eds) Augmented Reality, Virtual Reality, and Computer Graphics. AVR 2017. Lecture Notes in Computer Science(), vol 10325. Springer, Cham. https://doi.org/10.1007/978-3-319-60928-7_35
Download citation
DOI: https://doi.org/10.1007/978-3-319-60928-7_35
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-60927-0
Online ISBN: 978-3-319-60928-7
eBook Packages: Computer ScienceComputer Science (R0)