ccny_rgbd Documentation

ccny_rgbd is a collection of tools for fast visual odometry and mapping from RGB-D data

ccny_rgbd: ccny_rgbd

Ros applications for fast visual odometry and mapping from RGB-D data, built on top of the rgbdtools library.

• Homepage: http://ros.org/wiki/ccny_rgbd

Author(s)

Ivan Dryanovski <ivan.dryanovski@gmail.com>

Copyright

Copyright (C) 2013, City University of New York
CCNY Robotics Lab
http://robotics.ccny.cuny.edu

codeapi

ROS Applications:

• RGB-D image processing: RGBDImageProc
• Fast visual odometry: VisualOdometry
• Keyframe-based mapping and SLAM: KeyframeMapper

Some base classes of interest:

• Base class for sparse feature detectors: FeatureDetector
• Base class for motion estimation methods: MotionEstimation

Some implementation classes of interest:

• GoodFeaturesToTrack featureDetector: GftDetector
• KF-based motion estimation using a persistent model: MotionEstimationICPProbModel
• SURF + RANSAC-based graph detection: KeyframeGraphDetector
• g2o-based graph slam post-processing: KeyframeGraphSolverG2O

References

Ivan Dryanovski, Roberto G. Valenti, Jizhong Xiao. "Fast Visual Odometry and Mapping from RGB-D Data". 2013 International Conference on Robotics and Automation (ICRA2013).

License

ccny_rgbd is licensed under GPLv3.