Improving Dense Real-Time 3D SLAM Using Sparse Geometric Constraints

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Papadakis, J. -R. (2018). Improving Dense Real-Time 3D SLAM Using Sparse Geometric Constraints. Unc Charlotte Electronic Theses And Dissertations.
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Abstract

This thesis explores the extension of a state of the art dense RGBD SLAM system to include detected geometries as elements in the estimated global map. The existing approach leverages an algorithm for dense visual odometry, which is analyzed in detail and reimplemented. It is demonstrated how the inclusion of these detected geometries can improve the state estimate and reduce reconstruction error. These geometric map elements contain invaluable semantic information about scene content that more dense map representations lack, and serve to improve localization, reduce dense reconstruction error, improve scene understanding.

Details
Author

Papadakis, John-Richard

Title

Improving Dense Real-Time 3D SLAM Using Sparse Geometric Constraints

Physical Description

1 online resource (95 pages) : PDF

Date

2018

Degree Granting Institution

University of North Carolina at Charlotte

Abstract

This thesis explores the extension of a state of the art dense RGBD SLAM system to include detected geometries as elements in the estimated global map. The existing approach leverages an algorithm for dense visual odometry, which is analyzed in detail and reimplemented. It is demonstrated how the inclusion of these detected geometries can improve the state estimate and reduce reconstruction error. These geometric map elements contain invaluable semantic information about scene content that more dense map representations lack, and serve to improve localization, reduce dense reconstruction error, improve scene understanding.

Genre

masters theses

Subjects--Topics

Robotics

Degree

M.S.

Subject Area

Electrical Engineering

Advisor(s)

Willis, Andrew

Committee Members

Conrad, James
Weldon, Thomas
Kakad, Yogendra

Degree Note

Thesis (M.S.)--University of North Carolina at Charlotte, 2018.

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Rights Holder Information

Copyright is held by the author unless otherwise indicated.

Identifier

Papadakis_uncc_0694N_11738

Permalink

http://hdl.handle.net/20.500.13093/etd:1731