Indoor 3D Reconstruction with MicroSoft Kinect
Kinect is a motion capture device of MicroSoft Xbox360. It can capture depth of the image by a binocular-like depth sensor based on IR. For more information about the device, please go to the Primesence and ROS Kinect web site.
Currently, many researcher tried to use kinect as a depth camera to get real-time 3D reconstruction system of indoor environment. We also have a try with our SLAM system and a new KLT-LM algorithm. Additionally, we use a pan unit of our lab to get a high accuracy result of the indoor environment point cloud.
SLAM based Kinect Real-time Indoor 3D Reconstruction
We use RGB-camera of Kinect as a monocular camera of monocular SLAM and initialized features from environment by the ourput of depth sensor of Kinect, then get a real-time environment 3D reconstruction method.
KLT-LM based Kinect Real-time Indoor 3D Reconstruction
We use KLT optical flow tracking method to track corner points from RGB-camera of Kinect, and get the 3D points correspondence, then use [I 0] as initial of LM optimization algorithm to get the finial rigidbody transform of two frames. By this way, we get a real-time 3D reconstruction system.
Pan Unit based Kinect Indoor 3D Reconstruction
For high accuracy requirement, we developed a pan unit based indoor 3D reconstruction system with Kinect.