We propose an effective, real-time solution to the RGB-D SLAM problem dubbed SlamDunk. Our proposal features a multi-view camera tracking approach based on a dynamic local map of the workspace, enables metric loop closure seamlessly and preserves local consistency by means of relative bundle adjustment principles. SlamDunk requires a few threads, low memory consumption and runs at 30Hz on a standard desktop computer without hardware acceleration by a GPGPU card. As such, it renders real-time dense SLAM affordable on commodity hardware. SlamDunk permits highly responsive interactive operation in a variety of workspaces and scenarios, such as scanning small objects or densely reconstructing large-scale environments. We provide quantitative and qualitative experiments in diverse settings to demonstrate the accuracy and robustness of the proposed approach.
SlamDunk: Affordable Real-Time RGB-D SLAM / Nicola Fioraio; Luigi Di Stefano. - STAMPA. - (2015), pp. 401-414. (Intervento presentato al convegno European Conference on Computer Vision (ECCV) tenutosi a Zurigo (CH) nel 6 Settembre 2014) [10.1007/978-3-319-16178-5_28].
SlamDunk: Affordable Real-Time RGB-D SLAM
FIORAIO, NICOLA;DI STEFANO, LUIGI
2015
Abstract
We propose an effective, real-time solution to the RGB-D SLAM problem dubbed SlamDunk. Our proposal features a multi-view camera tracking approach based on a dynamic local map of the workspace, enables metric loop closure seamlessly and preserves local consistency by means of relative bundle adjustment principles. SlamDunk requires a few threads, low memory consumption and runs at 30Hz on a standard desktop computer without hardware acceleration by a GPGPU card. As such, it renders real-time dense SLAM affordable on commodity hardware. SlamDunk permits highly responsive interactive operation in a variety of workspaces and scenarios, such as scanning small objects or densely reconstructing large-scale environments. We provide quantitative and qualitative experiments in diverse settings to demonstrate the accuracy and robustness of the proposed approach.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.