2018
Live Structural Modeling Using RGB-D SLAM
Nicolas Olivier, Hideaki Uchiyama, Masashi Mishima, Diego Thomas, Rin-Ichiro Taniguchi, Rafael Roberto +2
ICRA 2018poster
This paper presents a method for localizing primitive shapes in a dense point cloud computed by the RGB-D SLAM system. To stably generate a shape map containing only primitive shapes, the primitive shape is incrementally modeled by fusing the shapes estimated at previous frames in the SLAM, so that…