Robust Keyframe-based Dense SLAM with an RGB-D Camera

14 Nov 2017Haomin LiuChen LiGuojun ChenGuofeng ZhangMichael KaessHujun Bao

In this paper, we present RKD-SLAM, a robust keyframe-based dense SLAM approach for an RGB-D camera that can robustly handle fast motion and dense loop closure, and run without time limitation in a moderate size scene. It not only can be used to scan high-quality 3D models, but also can satisfy the demand of VR and AR applications... (read more)

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