实时三维重建算法的实现——基于Kinect与单目视觉SLAM的三维重建

Real-time 3-D reconstruction algorithm based on Kinect and Mono SLAM

作为计算机视觉技术的一个重要分支,基于单目视觉的三维重建技术以其要求简单、成本低廉、易于实现等优点,得到了越来越多的关注。在室内环境下就智能机器人的同步定位以及环境地图创建(SLAM)算法展开了研究,引入RGB-D相机Kinect直接获取3D场景的深度信息,实现了一种基于单目视觉SLAM与Kinect的实时三维重建方法。

As an important branch of the computer vision technology, the 3-D reconstruction techniques based on the Monocular vision get more and more attention, for it＇s simple, low cost and easy to implement. This paper launches a study on the algorithm of the SLAM（Simultaneous Localization and Mapping）by introducing the RGB-D camera Kinect to obtain the depth information of the 3D scene. An algorithm of the 3-D reconstruction based on the Kinect and monocular vision SLAM is achieved.