-
Upload Video
videos in mp4/mov/flv
close
Upload video
Note: publisher must agree to add uploaded document -
Upload Slides
slides or other attachment
close
Upload Slides
Note: publisher must agree to add uploaded document -
Feedback
help us improve
close
Feedback
Please help us improve your experience by sending us a comment, question or concern
Please help transcribe this video using our simple transcription tool. You need to be logged in to do so.
Description
We present a method of utilizing depth information as provided by RGBD sensors for robust real-time visual simultaneous localisation and mapping (SLAM) by augmenting monocular visual SLAM to take into account depth data. This is implemented based on the freely available software “Parallel Tracking and Mapping†(PTAM) by Georg Klein, which was originally developed for augmented reality applications. Our modifications allow PTAM to be used as a 6D visual SLAM system even without any additional information about odometry or from an inertial measurement unit.