Application: kinect-3d-slam

Description

This is a very simple program written in 2 hours just to illustrate the capabilities of Xbox Kinect to perform Visual SLAM with the MRPT libraries. It is not supposed to be used for even medium-sized maps.

Usage:
- Point to some static, near object.
- Press 'r' to reset the map.
- Start moving the Kinect slowly. Take care that at least 3-5 features exist at all time.

Working principle: The program creates a "key-frame" for each 10cm or 10deg the camera moves, then establish the 6D relative pose of the camera to the set of tracked features at the last "key-frame".

Source code: http://mrpt.googlecode.com/svn/trunk/apps/kinect-3d-slam/kinect-3d-slam_...

Note: Kinect is supported since MRPT 0.9.3. Check out the Ubuntu PPA repository for possible often updates.

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