论文标题
使用Intel Realsense T265和D435i摄像机绘制的本地化和深度数据的耦合
Coupling of localization and depth data for mapping using Intel RealSense T265 and D435i cameras
论文作者
论文摘要
我们建议为了获得两种类型的Intel Realsense传感器（跟踪T265和D435I），以获得室内环境的本地化和3D占用图。我们实现了一种基于Python的观察者模式，采用多线程方法进行相机数据同步。我们比较了不同的点云（PC）对准方法（使用从跟踪摄像头和ICP家族方法获得的转换）。跟踪摄像头和PC对齐使我们能够在帧之间生成一组转换。基于这些转换，我们获得了不同的轨迹并提供了他们的分析。最后，我们为所有帧构成了姿势，我们将深度数据结合在一起。首先，我们获得了代表整个场景的联合PC。然后，我们使用OctOmap表示形式来构建地图。
We propose to couple two types of Intel RealSense sensors (tracking T265 and depth D435i) in order to obtain localization and 3D occupancy map of the indoor environment. We implemented a python-based observer pattern with multi-threaded approach for camera data synchronization. We compared different point cloud (PC) alignment methods (using transformations obtained from tracking camera and from ICP family methods). Tracking camera and PC alignment allow us to generate a set of transformations between frames. Based on these transformations we obtained different trajectories and provided their analysis. Finally, having poses for all frames, we combined depth data. Firstly we obtained a joint PC representing the whole scene. Then we used Octomap representation to build a map.
