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.
- 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
- Basic ROS Utilities
- TORO (openslam.org)
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