Real-Time 3-D Mapping for Indoor Environments Using RGB-D Cameras
For three-dimensional (3-D) mapping, so far, 3-D laser scanners and stereo camera systems are used widely due to their high measurement range and accuracy. For stereo camera systems, establishing corresponding point pairs between two images is one crucial step for reconstructing depth information. However, mapping approaches using laser scanners are still restricted by a serious constraint by accurate image registration and mapping. In recent years, time-of-flight (ToF) cameras have been used for mapping tasks in providing high frame rates while preserving a compact size, but lack in measurement precision and robustness. To address the current technological bottleneck, this article presents a 3-D mapping method which employs an RGB-D camera for 3-D data acquisition and then applies the RGB-D features alignment (RGBD-FA) for data registration. Experimental results show the feasibility and robustness of applying the proposed approach for real-time 3-D mapping for large-scale indoor environments.
Zone-Ching Lin, You-Min Huang, Chao-Chang Arthur Chen and Liang-Kuang Chen
L. C. Chen and N. V. Thai, "Real-Time 3-D Mapping for Indoor Environments Using RGB-D Cameras", Advanced Materials Research, Vol. 579, pp. 435-444, 2012