Posted by Radu B. Rusu |
First an entire building floor of the Stata Center was captured using a Kinect. The data was then used to build a simple plane-based 3D model using PCL (and sensor poses from Lidar-based SLAM) of about 1MB in size.
They then developed a robust algorithm for localization within the model in real-time using a particle filter.
The approach works by generating simulated range images using the 3D model for a virtual camera located the different particle poses. This approach correctly simulates the image formation model and allows for a disparity parameterized likelihood function. This allows the filter to correctly utilize the very noisy RGB-D points up to 20 meters away - data that has usually been discarded up to this.
Particles are propagated using the FOVIS…