A real-time 3D scene reconstruction and localization system with surface optimization is proposed. The dense 3D point cloud model is created by utilizing rotation and orientation invariant feature matching along with loop-closure detection algorithm on RGB-D images in a mobile robot. The high resolution and smooth mesh model is implemented on a GPU based computer through wireless communication.
Real-time 3D scene reconstruction and localization with surface optimization
2018-07-01
16890706 byte
Conference paper
Electronic Resource
English
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