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Kinect Localization and Mapping (Video 3) - iC2020 [no sound]

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Uploaded on May 16, 2011

** The music has been stripped from this version of video due to people in other countries not being able to view it **

iC2020 - Fourth Year University of Waterloo Design Project
March 20th, 2011

Sean Anderson, Kirk MacTavish, Daryl Tiong, Aditya Sharma

Our goal is to use PrimeSense technology in order to create a globally consistent dense 3D colour map.

Here is a video of our iC2020 module in use with the Husky A200 designed by Clearpath Robotics.

Current accomplishments:
- Optical Flow using Shi Tomasi Corners
- Visual Odometry using Shi Tomasi and GPU SURF
. . . . Features undergo RANSAC to find inliers (in green)
. . . . Least Squares is used across all inliers to solve for rotation and translation
- Loop closure detection using a dynamic feature library
- Global Network Optimization for loop closure

Underlying Technology:
- Basic ROS Utilities
- OpenCV
- GPUSURF
- TORO (openslam.org)

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