Real-Time 3D Modeling with a RGB-D Camera and On-Board Processing

  • Wilbert G. AguilarEmail author
  • Guillermo A. Rodríguez
  • Leandro Álvarez
  • Sebastián Sandoval
  • Fernando Quisaguano
  • Alex Limaico
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10325)


In this article we present a three dimensional modeling system that generates precise real-time mapping using a RGB-D camera. With the use of the light weight sensors Microsoft Kinect and small and powerful computers like the Intel Stick Core M3 Processor, our system can run all the computation and sensing required to smoothly run SLAM (Simultaneous Localization and Mapping) on-board and in real-time, removing the dependence on unreliable wireless communication. We use visual odometry, loop closure and graph optimization. Our approach is capable of generating accurate maps of several objects analyzing the data yielded by several tests of the system.


SLAM RGB-D Loop closure detection Graph optimization Visual odometry RANSAC UAVs 



This work is part of the projects VisualNavDrone 2016-PIC-024 and MultiNavCar 2016-PIC-025, from the Universidad de las Fuerzas Armadas ESPE, directed by Dr. Wilbert G. Aguilar.


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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  • Wilbert G. Aguilar
    • 1
    • 3
    • 4
    Email author
  • Guillermo A. Rodríguez
    • 2
    • 3
  • Leandro Álvarez
    • 2
    • 3
  • Sebastián Sandoval
    • 2
    • 3
  • Fernando Quisaguano
    • 2
    • 3
  • Alex Limaico
    • 2
    • 3
  1. 1.Dep. Seguridad y DefensaUniversidad de las Fuerzas Armadas ESPESangolquíEcuador
  2. 2.Dep. Eléctrica y ElectrónicaUniversidad de las Fuerzas Armadas ESPESangolquíEcuador
  3. 3.CICTE Research CenterUniversidad de las Fuerzas Armadas ESPESangolquíEcuador
  4. 4.GREC Research GroupUniversitat Politècnica de CatalunyaBarcelonaSpain

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