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In this paper we present a dense visual odometry system for RGB-D cameras performing both photometric and geometric error minimisation to estimate the camera motion between frames. Contrary to most works in the literature, we parametrise the geometric error by the inverse depth instead of the depth, which translates into a better fit of the distribution of the geometric error to the used robust cost...
One open problem in the fields of place recognition and mapping is to be able to recognise a revisited place when its appearance and layout have changed between visits. In this paper, we investigate this problem in the context of RGB-D mapping in indoor environments. We propose to segment the scene in juts (neighbourhood of 3D points with normals that stick out from the surroundings) and look at low-level...
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