Stereo and KinectFusion for continuous 3D reconstruction and visual odometry

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dc.contributor.authorYilmaz, Ozgur
dc.contributor.authorKarakus, Fatih
dc.date.accessioned2025-10-24T18:09:48Z
dc.date.available2025-10-24T18:09:48Z
dc.date.issued2016
dc.departmentMalatya Turgut Özal Üniversitesi
dc.description.abstractRobust and accurate 3D reconstruction of a scene is essential for many robotic and computer vision applications. Although recent studies propose accurate reconstruction algorithms, they are only suitable for indoor operation. We are proposing a system solution that can accurately reconstruct the scene both indoors and outdoors, in real time. The system utilizes both active and passive visual sensors in conjunction with peripheral hardware for communication and suggests an accuracy improvement in both reconstruction and pose estimation accuracy over state-of-the-art SLAM algorithms via stereo visual odometry integration. We also introduce the concept of multisession reconstruction, which is relevant for many real-world applications. In our solution to this concept, distinct regions in a scene can be reconstructed in detail in separate sessions using the KinectFusion framework and merged into a global scene using continuous visual odometry camera tracking.
dc.description.sponsorshipHYPERION (FP7) project; Turgut Ozal University BAP Project [006-10-2013]
dc.description.sponsorshipThis study was supported by the HYPERION (FP7) project and Turgut Ozal University BAP Project Number 006-10-2013, titled Stereo ye Kinect Kameralar ile 3 Boyutlu Modelleme. We thank Sait Kubilay Pakin for his contribution to the overall system design.
dc.identifier.doi10.3906/elk-1401-273
dc.identifier.endpage2770
dc.identifier.issn1300-0632
dc.identifier.issn1303-6203
dc.identifier.issue4
dc.identifier.scopus2-s2.0-84974695652
dc.identifier.scopusqualityQ2
dc.identifier.startpage2756
dc.identifier.trdizinid246154
dc.identifier.urihttps://doi.org/10.3906/elk-1401-273
dc.identifier.urihttps://search.trdizin.gov.tr/tr/yayin/detay/246154
dc.identifier.urihttps://hdl.handle.net/20.500.12899/3844
dc.identifier.volume24
dc.identifier.wosWOS:000374325800052
dc.identifier.wosqualityQ4
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.indekslendigikaynakTR
dc.language.isoen
dc.publisherTubitak Scientific & Technological Research Council Turkey
dc.relation.ispartofTurkish Journal Of Electrical Engineering And Computer Sciences
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.snmzKA_20251023
dc.subject3D reconstruction; SLAM; stereo; Kinect; visual odometry; iterative closest point; fusion
dc.titleStereo and KinectFusion for continuous 3D reconstruction and visual odometry
dc.typeArticle

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