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

** 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)

Category:

Science & Technology

Tags:

• ic2020
• ic 20/20
• kinect
• slam
• simultaneous
• localization
• mapping
• clearpath
• robotics
• husky a200
• robot
• robot mapping
• visual odometry
• SURF
• 3D
• ROS
• OpenCV

[hotbld5]

can you give me a source or way to install this on ubuntu?

I already have ubuntu.

Maybe instructions too.

This is awsome

[shyxguy]

@hotbld5 source is available at ic2020 dot ca with some minor instruction. I would suggest familiarizing yourself with ROS and OpenCV before diving into this right away :) good luck!

[enddl22]

It's awesome!.

Thank you man~~

[shyxguy]

@enddl22 no problem... shame that the video got removed for the music... the sound goes so well

[TimmmmCam]

That is awesome! Looks quite a bit better than RGBD-SLAM.

Any change of source code when you're finished?