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Original paper

A benchmark for the evaluation of RGB-D SLAM systems

Pages: 573 - 580
Published: Oct 1, 2012
Abstract
In this paper, we present a novel benchmark for the evaluation of RGB-D SLAM systems. We recorded a large set of image sequences from a Microsoft Kinect with highly accurate and time-synchronized ground truth camera poses from a motion capture system. The sequences contain both the color and depth images in full sensor resolution (640 × 480) at video frame rate (30 Hz). The ground-truth trajectory was obtained from a motion-capture system with...
Paper Details
Title
A benchmark for the evaluation of RGB-D SLAM systems
Published Date
Oct 1, 2012
Pages
573 - 580
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