Prof. Dr. Didier Stricker
Dr. Alain Pagani
Dr. Gerd Reis
Eric Thil
Keonna Cunningham
Dr. Jason Raphael Rambach
Dr. Oliver Wasenmüller
Dr. Gabriele Bleser
Dr. Bertram Taetz
Sk Aziz Ali
Rashed Al Koutayni
Yuriy Anisimov
Jilliam Maria Diaz Barros
Ramy Battrawy
Hammad Butt
Mahdi Chamseddine
Steve Dias da Cruz
Fangwen Shu
Torben Fetzer
Michael Fürst
Christiano Couto Gava
Tewodros Amberbir Habtegebrial
Khurram Hashmi
Jigyasa Singh Katrolia
Andreas Kölsch
Onorina Kovalenko
Stephan Krauß
Paul Lesur
Muhammad Jameel Nawaz Malik
Michael Lorenz
Mina Ameli
Nareg Minaskan Karabid
Pramod Murthy
Mathias Musahl
Peter Neigel
Manthan Pancholi
María Alejandra Sánchez Marín
Dr. Kripasindhu Sarkar
Alexander Schäfer
René Schuster
Mohamed Selim
Dennis Stumpf
Yongzhi Su
Xiaoying Tan
Murad Almadani
Ahmet Firintepe
Dr. Vladislav Golyanik
Dr. Aditya Tewari
André Luiz Brandão
Towards an Accurate RGB-D Benchmark, Mapping and Odometry as well as their Applications
Towards an Accurate RGB-D Benchmark, Mapping and Odometry as well as their Applications
PhD Thesis
- Abstract:
- RGB-D cameras have the unique capability to capture color as well as dense depth images at the same time. The advantage of depth images is that they describe the 3D surface of the scene, which makes them ideal candidates for reconstructing geometries. However, they have the disadvantage that the depth images have a considerable amount of noise which must be explicitly taken into account in subsequent algorithms. In this thesis, we investigate 3D reconstruction with these devices. The reconstruction problem can be divided into two main parts: the mapping – the fusion of several depth images to a consistent 3D model – and the odometry – the estimation of the camera pose over time. We propose a new benchmark - called CoRBS – allowing to independently evaluate such algorithms for the first time. Next, we present several new mapping algorithms outperforming the state-of-the-art in accuracy. In addition, we propose a new odometry algorithm designed for ToF cameras. At the end, we examine different application scenarios – like a 3D discrepancy check - for the presented algorithms.