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Indoor 3D Mapping using Kinect
Linköping University, Department of Electrical Engineering, Computer Vision. Linköping University, The Institute of Technology.
2014 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Kartering av inomhusmiljöer med Kinect (Swedish)
Abstract [en]

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.

Abstract [sv]

Under de senaste åren har flera olika avståndskameror lanserats på konsumentmarkanden. Detta har skapat många intressanta applikationer både i professionella system samt för underhållningssyfte. Ett exempel på en sådan kamera är Microsoft Kinect som utvecklades för Microsofts spelkonsol Xbox 360. I detta examensarbete presenteras ett system som använder Kinect för att skapa en så exakt rekonstruktion i 3D av en innomhusmiljö som möjligt. Den främsta innovationen i systemet är en datastruktur baserad på signed distance fields (SDF) och octrees, vilket används för att representera den rekonstruerade miljön.

Place, publisher, year, edition, pages
2014. , 60 p.
Keyword [en]
Kinect, mapping, sparse voxel octree, signed distance function, pose estimation
National Category
Signal Processing
URN: urn:nbn:se:liu:diva-106145ISRN: LiTH-ISY-EX--14/4753--SEOAI: diva2:716061
External cooperation
SAAB Vricon Systems AB
Subject / course
Computer Vision Laboratory
2014-04-07, Algoritmen, B-huset, Linköpings universitet, 581 83 LINKÖPING, Linköping, 15:15 (Swedish)
Available from: 2014-05-12 Created: 2014-04-26 Last updated: 2014-05-12Bibliographically approved

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