iC2020

A Fourth Year University of Waterloo Design Project

Code written by Sean Anderson and Kirk MacTavish

Our goal is to use PrimeSense technology in order to create a globally consistent dense 3D colour map.

Current accomplishments

• Optical Flow using Shi Tomasi Corners
• Visual Odometry using Shi Tomasi and GPU SURF
• Features undergo RANSAC to find inliers (in green)
• Least Squares is used across all inliers to solve for rotation and translation
• Loop closure detection using a dynamic feature library
• Global Network Optimization for loop closure

Underlying Technology

• Basic ROS Utilities
• OpenCV
• GPUSURF
• TORO (openslam.org)

Download and Installation

See source tab above and Installation.