KEYWORDS: Cameras, Imaging systems, Optical tracking, Detection and tracking algorithms, Sensors, RGB color model, Visualization, 3D modeling, 3D image processing, Algorithm development
A real-time tracking and mapping SLAM system is presented. The developed system uses input from an RGBD sensor and tracks the camera pose from frame to frame. The tracking is based on matched feature points and is performed with respect to selected keyframes. The system is robust and scalable, as an arbitrary number of keyframes can be chosen for visualization and tracking depending on the desired accuracy and speed. The presented system is also a good platform for further research.
KEYWORDS: 3D modeling, Cameras, Reconstruction algorithms, Visualization, 3D image processing, RGB color model, Atomic force microscopy, Matrices, Visual process modeling, Image resolution
Large scale multiview reconstruction is recently a very popular area of research. There are many open source tools that can be downloaded and run on a personal computer. However, there are few, if any, comparisons between all the available software in terms of accuracy on small datasets that a single user can create. The typical datasets for testing of the software are archeological sites or cities, comprising thousands of images. This paper presents a comparison of currently available open source multiview reconstruction software for small datasets. It also compares the open source solutions with a simple structure from motion pipeline developed by the authors from scratch with the use of OpenCV and Eigen libraries.
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