Robust Tracking for Real-Time Dense RGB-D Mapping with Kintinuous

Abstract

Abstract—This paper describes extensions to the Kintinu-ous [1] algorithm for spatially extended KinectFusion, incor-porating the following additions: (i) the integration of multiple 6DOF camera odometry estimation methods for robust track-ing; (ii) a novel GPU-based implementation of an existing dense RGB-D visual odometry algorithm; (iii) advanced fused real-time surface coloring. These extensions are validated with ex-tensive experimental results, both quantitative and qualitative, demonstrating the ability to build dense fully colored models of spatially extended environments for robotics and virtual reality applications while remaining robust against scenes with challenging sets of geometric and visual features. I.