Feature Based RGB-D SLAM for a Plenoptic Camera

Title:: Feature Based RGB-D SLAM for a Plenoptic Camera
Document type:: Zeitschriftenaufsatz
Author(s):: Kühefuß, Andreas; Zeller, Niclas; Quint, Franz; Stilla, Uwe
Abstract:: This paper presents a method to estimate the camera poses for images of a plenoptic camera. For this, a feature based RGB-D SLAM is used. A new method for matching the features between two images will be presented. Finally the result of the algorithm is compared with the trajectory from the Google Project Tango.
Keywords:: LOCenter; LOCTop_Data_Generation_and_Object_Reconstruction; RGB-D; SLAM; feature based; bundle adjustment; focused plenoptic camera
Journal title:: BW-CAR| SINCOM
Year:: 2016
Pages contribution:: 25
WWW:: http://sincom.informatik.hs-furtwangen.de/fileadmin/user_upload/proceedingsSInCom2016.pdf#page=31
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