title: RGB-D SLAM Based on Extended Bundle Adjustment with 2D and 3D Information.
abstract: In the study of SLAM problem using an RGB-D camera, depth information and visual information as two types of primary measurement data are rarely tightly coupled during refinement of camera pose estimation. In this paper, a new method of RGB-D camera SLAM is proposed based on extended bundle adjustment with integrated 2D and 3D information on the basis of a new projection model. First, the geometric relationship between the image plane coordinates and the depth values is constructed through RGB-D camera calibration. Then, 2D and 3D feature points are automatically extracted and matched between consecutive frames to build a continuous image network. Finally, extended bundle adjustment based on the new projection model, which takes both image and depth measurements into consideration, is applied to the image network for high-precision pose estimation. Field experiments show that the proposed method has a notably better performance than the traditional method, and the experimental results demonstrate the effectiveness of the proposed method in improving localization accuracy.
authors.affiliation: State Key Laboratory of Remote Sensing Science, Institute of Remote Sensing and Digital Earth, Chinese Academy of Sciences, No. 20A, Datun Road, Chaoyang District, Beijing 100101, China. dikc@radi.ac.cn.
authors.forename: Kaichang
authors.initials: K
authors.lastname: Di
authors.affiliation: State Key Laboratory of Remote Sensing Science, Institute of Remote Sensing and Digital Earth, Chinese Academy of Sciences, No. 20A, Datun Road, Chaoyang District, Beijing 100101, China. zhaoqiang@radi.ac.cn.|University of Chinese Academy of Sciences, Beijing 100049, China. zhaoqiang@radi.ac.cn.
authors.forename: Qiang
authors.initials: Q
authors.lastname: Zhao
authors.affiliation: State Key Laboratory of Remote Sensing Science, Institute of Remote Sensing and Digital Earth, Chinese Academy of Sciences, No. 20A, Datun Road, Chaoyang District, Beijing 100101, China. wanwh@radi.ac.cn.
authors.forename: Wenhui
authors.initials: W
authors.lastname: Wan
authors.affiliation: State Key Laboratory of Remote Sensing Science, Institute of Remote Sensing and Digital Earth, Chinese Academy of Sciences, No. 20A, Datun Road, Chaoyang District, Beijing 100101, China. wangyx716@radi.ac.cn.
authors.forename: Yexin
authors.initials: Y
authors.lastname: Wang
authors.affiliation: State Key Laboratory of Remote Sensing Science, Institute of Remote Sensing and Digital Earth, Chinese Academy of Sciences, No. 20A, Datun Road, Chaoyang District, Beijing 100101, China. gaoyunjunsx@163.com.
authors.forename: Yunjun
authors.initials: Y
authors.lastname: Gao
keywords: Kinect; RGB-D camera; SLAM; bundle adjustment; projection model