Research on Indoor 3D SLAM Fusing Color and Depth Information

Research on Indoor 3D SLAM Fusing Color and Depth Information

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This book is suited for computer science students and provides valuable knowledge to the intermediate scholars. Simultaneous Localization and Mapping (SLAM) is the basis for mobile robot autonomous navigating in unknown environment. This book introduces SLAM based on RGB-D color information and depth information for indoor unknown environment, which includes RGB-D depth distortion correction, feature detection, feature description and feature association. Without any prior knowledge, a Kinect does 6-DOF motion in indoor scenes and perceives the surrounding environment information, extracting s...