Feature-Based Real-Time Visual SLAM Using Kinect

Abstract

In this paper, a novel feature-based real-time visual Simultaneous localization and mapping (SLAM) system is proposed. This system generates colored 3-D reconstruction models and 3-D estimated trajectory using a Kinect style camera. Microsoft Kinect, a low priced 3-D camera, is the only sensor we use in our experiment. Kinect style sensors give RGB-D (red-green-blue depth) data which contains 2D image and per-pixel depth information. ORB (Oriented FAST and Rotated BRIEF) is the algorithm used to extract image features for speed up the whole system. Our system can be used to generate 3-D detailed reconstruction models. Furthermore, an estimated 3D trajectory of the sensor is given in this paper. The results of the experiments demonstrate that our system performs robustly and effectively in both getting detailed 3D models and mapping camera trajectory.