In this paper we present an approach to indoor localization and 3D scene reconstruction using the Microsoft Kinect sensor. The proposed system can simultaneously estimates the position and orientation of a hand-held Kinect and generates a dense 3D model of the indoor environment. Furthermore, the robustness and processing time for four different feature descriptors (SURF, ORB, Shi-Tomasi and FAST) are evaluated. The experiment results demonstrate that our system can robustly deal with complicated data in common indoor scenarios while running in semi-real-time. © 2012 IEEE.
CITATION STYLE
Zou, Y., Chen, W., Wu, X., & Liu, Z. (2012). Indoor localization and 3D scene reconstruction for mobile robots using the Microsoft Kinect sensor. In IEEE International Conference on Industrial Informatics (INDIN) (pp. 1182–1187). https://doi.org/10.1109/INDIN.2012.6301209
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