Real-time 3D modeling with a RGB-D camera and on-board processing

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.