High-speed three-dimensional mapping by direct estimation of a small motion using range images

Abstract

In this paper, a high-speed three-dimensional map generation method using direct estimation of the motion parameters of the sensor is proposed. Range images are aligned between frames after estimating the motion parameters of the sensor using the relationship of the range image and the motion parameters of a small motion. A 3D map can be created quickly because the method does not need to obtain the correspondences of features. Both the processing time required for the motion parameter estimation and the accuracy of the map are verified by experiments using a developed RGB-D sensor.