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International Conference on Augmented Reality, Virtual Reality and Computer Graphics

AVR 2017: Augmented Reality, Virtual Reality, and Computer Graphics pp 410–419Cite as

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

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Part of the book series: Lecture Notes in Computer Science ((LNIP,volume 10325))

Abstract

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.

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Acknowledgement

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.

Author information

Authors and Affiliations

  1. Dep. Seguridad y Defensa, Universidad de las Fuerzas Armadas ESPE, Sangolquí, Ecuador

    Wilbert G. Aguilar

  2. Dep. Eléctrica y Electrónica, Universidad de las Fuerzas Armadas ESPE, Sangolquí, Ecuador

    Guillermo A. Rodríguez, Leandro Álvarez, Sebastián Sandoval, Fernando Quisaguano & Alex Limaico

  3. CICTE Research Center, Universidad de las Fuerzas Armadas ESPE, Sangolquí, Ecuador

    Wilbert G. Aguilar, Guillermo A. Rodríguez, Leandro Álvarez, Sebastián Sandoval, Fernando Quisaguano & Alex Limaico

  4. GREC Research Group, Universitat Politècnica de Catalunya, Barcelona, Spain

    Wilbert G. Aguilar

Authors
  1. Wilbert G. Aguilar
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  2. Guillermo A. Rodríguez
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  3. Leandro Álvarez
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  4. Sebastián Sandoval
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  5. Fernando Quisaguano
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  6. Alex Limaico
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Corresponding author

Correspondence to Wilbert G. Aguilar .

Editor information

Editors and Affiliations

  1. University of Salento, Lecce, Italy

    Lucio Tommaso De Paolis

  2. University of Paris-Sud, Orsay, France

    Patrick Bourdot

  3. University of Salento, Lecce, Italy

    Antonio Mongelli

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Aguilar, W.G., Rodríguez, G.A., Álvarez, L., Sandoval, S., Quisaguano, F., Limaico, A. (2017). Real-Time 3D Modeling with a RGB-D Camera and On-Board Processing. In: De Paolis, L., Bourdot, P., Mongelli, A. (eds) Augmented Reality, Virtual Reality, and Computer Graphics. AVR 2017. Lecture Notes in Computer Science(), vol 10325. Springer, Cham. https://doi.org/10.1007/978-3-319-60928-7_35

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  • DOI: https://doi.org/10.1007/978-3-319-60928-7_35

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-60927-0

  • Online ISBN: 978-3-319-60928-7

  • eBook Packages: Computer ScienceComputer Science (R0)

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