ReFusion: 3D Reconstruction in Dynamic Environments for RGB-D Cameras Exploiting Residuals

1 code implementation • 6 May 2019 • Emanuele Palazzolo, Jens Behley, Philipp Lottes, Philippe Giguère, Cyrill Stachniss

For localization and mapping, we employ an efficient direct tracking on the truncated signed distance function (TSDF) and leverage color information encoded in the TSDF to estimate the pose of the sensor.

Robotics