Abstract:
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This thesis presents how to obtain a real-time 3D reconstruction of a
non-structured scene using multiple RGB-D cameras with the aim to use it
for robot planning.
Several techniques have been developed, starting from raycasting. In
order to obtain better speeds some point filtering procedures have been
used.
Finally, a temporal filtering technique is used to replace the raycasting
approach, and to provide a better reconstruction, a sparse points filter is
implemented. |