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

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.

[1]  Luiz Velho,et al.  Kinect and RGBD Images: Challenges and Applications , 2012, 2012 25th SIBGRAPI Conference on Graphics, Patterns and Images Tutorials.

[2]  Dieter Fox,et al.  RGB-D mapping: Using Kinect-style depth cameras for dense 3D modeling of indoor environments , 2012, Int. J. Robotics Res..

[3]  Dieter Fox,et al.  RGB-D object discovery via multi-scene analysis , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[4]  Roland Siegwart,et al.  A Review of Point Cloud Registration Algorithms for Mobile Robotics , 2015, Found. Trends Robotics.

[5]  Marc Levoy,et al.  Efficient variants of the ICP algorithm , 2001, Proceedings Third International Conference on 3-D Digital Imaging and Modeling.

[6]  Andrea Tagliasacchi,et al.  Eurographics Symposium on Geometry Processing 2013 Sparse Iterative Closest Point , 2022 .

[7]  Gérard G. Medioni,et al.  Object modelling by registration of multiple range images , 1992, Image Vis. Comput..

[8]  Dieter Fox,et al.  RGB-D Mapping: Using Depth Cameras for Dense 3D Modeling of Indoor Environments , 2010, ISER.

[9]  Dieter Fox,et al.  A large-scale hierarchical multi-view RGB-D object dataset , 2011, 2011 IEEE International Conference on Robotics and Automation.

[10]  Andrew W. Fitzgibbon,et al.  KinectFusion: real-time 3D reconstruction and interaction using a moving depth camera , 2011, UIST.

[11]  Roland Siegwart,et al.  Conference Presentation Slides on Kinect v2 for Mobile Robot Navigation: Evaluation and Modeling , 2015 .

[12]  Wolfram Burgard,et al.  3-D Mapping With an RGB-D Camera , 2014, IEEE Transactions on Robotics.