Indoor 3D Mapping using Kinect

University essay from Linköpings universitet/Datorseende; Linköpings universitet/Tekniska högskolan

Abstract: In recent years several depth cameras have emerged on the consumer market, creating many interesting possibilities forboth professional and recreational usage. One example of such a camera is the Microsoft Kinect sensor originally usedwith the Microsoft Xbox 360 game console. In this master thesis a system is presented that utilizes this device in order to create an as accurate as possible 3D reconstruction of an indoor environment. The major novelty of the presented system is the data structure based on signed distance fields and voxel octrees used to represent the observed environment.

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