Ask Your Question

Sven Behnke's profile - activity

2013-06-21 06:49:27 -0600 received badge  Good Answer (source)
2013-05-19 18:16:03 -0600 received badge  Necromancer (source)
2013-03-26 22:44:23 -0600 received badge  Nice Answer (source)
2013-02-28 21:23:17 -0600 received badge  Necromancer (source)
2013-02-04 22:05:49 -0600 received badge  Necromancer (source)
2013-01-26 08:02:49 -0600 received badge  Teacher (source)
2013-01-26 08:02:49 -0600 received badge  Necromancer (source)
2013-01-26 06:39:14 -0600 answered a question Specs To Run RGBD-6D-SLAM?

There is now also the Multiresolution Surfel Map library available, which performs dense RGB-D-SLAM on a CPU. This paper provides the details.

2013-01-26 06:36:11 -0600 answered a question Solutions for visually aided 2D/3D SLAM for UAV with ROS

There is now also the Multi-Resolution Surfel Map library available, which performs dense RGB-D-SLAM on a CPU.

code.google.com/p/mrsmap

Details are in this paper:

www.ais.uni-bonn.de/papers/JVCI_13_RGB-D-SLAM.pdf

2013-01-26 06:27:13 -0600 answered a question Running rgbdslam over multiple machines

With the Multiresolution Surfel Map library, you might be able to perform RGB-D SLAM on the laptop.

Code is available here:

code.google.com/p/mrsmap

Details are in this paper:

www.ais.uni-bonn.de/papers/JVCI_13_RGB-D-SLAM.pdf

2013-01-26 06:21:16 -0600 answered a question How to mount a Kinect with my laptop without any AC Adapter

You might want to use the Asus Xtion sensor.

It only needs USB power.

2013-01-26 06:18:13 -0600 answered a question is there any benchmarks for comparing the methods of visual slam

The RGB-D-SLAM package Multiresolution Surfel Maps

code.google.com/p/mrsmap

has been tested on the TUM/Freiburg data set with good results.

It runs on CPU.

See this paper for details:

www.ais.uni-bonn.de/papers/JVCI_13_RGB-D-SLAM.pdf

2013-01-26 06:16:08 -0600 answered a question narf descriptor

You might also want to give the SURE 3D features a try.

Sources are available here:

code.google.com/p/sure-3d-features

2013-01-26 06:13:24 -0600 answered a question How can I use NARF in PCL libray for Object regconition

You might also want to give the SURE 3D features a try:

code.google.com/p/sure-3d-features

They have been used for place recognition:

"Place Recognition using Surface Entropy Features"

www.ais.uni-bonn.de/papers/ICRA_WS_SPME_2012_Fiolka_et_al.pdf

2013-01-26 06:08:16 -0600 answered a question Extracting narf keypoints from kinect depth image problem

You might want to try the SURE 3D features:

code.google.com/p/sure-3d-features

See these papers for details:

  • SURE: Surface Entropy for Distinctive 3D Features: www.ais.uni-bonn.de/papers/Spatial_Cognition_2012_SURE.pdf

  • Place Recognition using Surface Entropy Features: www.ais.uni-bonn.de/papers/ICRA_WS_SPME_2012_Fiolka_et_al.pdf

2013-01-26 05:52:45 -0600 received badge  Editor (source)
2013-01-26 05:51:44 -0600 answered a question PTAM to reconstruct scene

You might want to try the Multiresolution Surfel Map package available on code.google.com/p/mrsmap

It performs RGB-D-SLAM in real time on a CPU. For details see this paper: www.ais.uni-bonn.de/papers/JVCI_13_RGB-D-SLAM.pdf

2013-01-26 05:42:07 -0600 answered a question Create Semantic Maps using RGBDSLAM + OctoMaps?

Using Multiresolution Surfel Maps for RGB-D-SLAM See code.google.com/p/mrsmap and Random Forests for Object-class segmentation of individual views, Nenad Biresev fused this semantic information to create 3D semantic maps.

See: Jörg Stückler, Nenad Biresev, and Sven Behnke: Semantic Mapping Using Object-Class Segmentation of RGB-D Images In Proceedings of IEEE/RSJ International Conference on Robots and Systems (IROS), Vilamoura, Portugal, October 2012. See www.ais.uni-bonn.de/papers/IROS_2012_Semantic_Mapping.pdf

2013-01-26 05:41:15 -0600 answered a question Is there any available 3d SLAM except rgbdslam package?

The Multiresolution Surfel Map package performs RGB-D-SLAM in real time on a CPU: see code.google.com/p/mrsmap