Abstract
In this paper we presents a 3D local mapping and localization method with kinect camera. The kinect camera is a low-cost sensor which can provide the information of the RGB image and depth image. The inverse depth parameterization model is introduced to the extended Kalman filter (EKF) to study the location Relations between the camera and feature points. A two-step feature matching method is applied to provide information to SLAM algorithm and synthetize the three-dimensional cloud points. The results of experiments validate the effectiveness of of the proposed local mapping and localization method.
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