Real-time visual odometry from dense RGB-D images

We present an energy-based approach to visual odometry from RGB-D images of a Microsoft Kinect camera. To this end we propose an energy function which aims at finding the best rigid body motion to map one RGB-D image into another one, assuming a static scene filmed by a moving camera. We then propose a linearization of the energy function which leads to a 6×6 normal equation for the twist coordinates representing the rigid body motion. To allow...