Applications of RGB-D data for 3D reconstruction in the indoor environment

摘要

Mobile robot is commonly used for firefighting, medical treatment, housekeeping, etc. The first trouble we should solve is navigation, and the most important part of mobile robot navigation is 3D reconstruction, which is also main part of this paper. In this paper, we compare several common RGB-D devices including Microsoft Kinect, Intel RealSense R200, Asus Xtion PRO Live. Then two main methods of 3D reconstruction in the indoor environment are introduced in the next chapter after comparison of devices. Variants of the ICP algorithm are followed at last.