High-quality 3D reconstruction is an important topic in computer graphics and computer
vision with many applications, such as robotics and augmented reality. The advent of …

In this paper, we characterize the noise in Kinect depth images based on multiple factors
and introduce a uniform nomenclature for the types of noise. In the process, we briefly …

Micro Aerial Vehicles (MAVs) that operate in unstructured, unexplored environments require
fast and flexible local planning, which can replan when new parts of the map are explored …

The ability to plan informative paths online is essential to robot autonomy. In particular,
sampling-based approaches are often used as they are capable of using arbitrary …

Online 3D reconstruction is gaining newfound interest due to the availability of real-time
consumer depth cameras. The basic problem takes live overlapping depth maps as input …

Abstract Recently, the new Kinect One has been issued by Microsoft, providing the next
generation of real-time range sensing devices based on the Time-of-Flight (ToF) principle …

Registration is an important step when processing three-dimensional (3-D) point clouds.
Applications for registration range from object modeling and tracking, to simultaneous …

With the introduction of the Microsoft Kinect for Windows v2 (Kinect v2), an exciting new
sensor is available to robotics and computer vision researchers. Similar to the original …

Real-time or online 3D reconstruction has wide applicability and receives further interest
due to availability of consumer depth cameras. Typical approaches use a moving sensor to …

Perceiving the surrounding environment is crucial for autonomous mobile robots. An
elevation map provides a memory-efficient and simple yet powerful geometric represen …