DC Field | Value | Language |
---|---|---|
dc.contributor.author | Lee, Donghwa | ko |
dc.contributor.author | Kim, Hyongjin | ko |
dc.contributor.author | Myung, Hyun | ko |
dc.date.accessioned | 2013-08-08T05:10:54Z | - |
dc.date.available | 2013-08-08T05:10:54Z | - |
dc.date.created | 2013-07-25 | - |
dc.date.created | 2013-07-25 | - |
dc.date.created | 2013-07-25 | - |
dc.date.issued | 2013-05 | - |
dc.identifier.citation | Journal of Institute of Control, Robotics and Systems, v.19, no.5, pp.457 - 461 | - |
dc.identifier.issn | 1976-5622 | - |
dc.identifier.uri | http://hdl.handle.net/10203/174414 | - |
dc.description.abstract | This paper proposes an image feature-based real-time RGB-D (Red-Green-Blue Depth) 3D SLAM (Simultaneous Localization and Mapping) system. RGB-D data from Kinect style sensors contain a 2D image and per-pixel depth information. 6-DOF (Degree-of-Freedom) visual odometry is obtained through the 3D-RANSAC (RANdom SAmple Consensus) algorithm with 2D image features and depth data. For speed up extraction of features, parallel computation is performed with GPU acceleration. After a feature manager detects a loop closure, a graph-based SLAM algorithm optimizes trajectory of the sensor and builds a 3D point cloud based map. | - |
dc.language | Korean | - |
dc.publisher | Institute of Control, Robotics and Systems | - |
dc.title | Image feature-based real-time RGB-D 3D SLAM with GPU acceleration | - |
dc.title.alternative | GPU 가속화를 통한 이미지 특징점 기반 RGB-D 3차원 SLAM | - |
dc.type | Article | - |
dc.identifier.scopusid | 2-s2.0-84887165572 | - |
dc.type.rims | ART | - |
dc.citation.volume | 19 | - |
dc.citation.issue | 5 | - |
dc.citation.beginningpage | 457 | - |
dc.citation.endingpage | 461 | - |
dc.citation.publicationname | Journal of Institute of Control, Robotics and Systems | - |
dc.embargo.liftdate | 9999-12-31 | - |
dc.embargo.terms | 9999-12-31 | - |
dc.contributor.localauthor | Myung, Hyun | - |
dc.contributor.nonIdAuthor | Kim, Hyongjin | - |
dc.subject.keywordAuthor | 3D SLAM | - |
dc.subject.keywordAuthor | Image feature | - |
dc.subject.keywordAuthor | RGB-D | - |
dc.subject.keywordAuthor | SLAM | - |
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