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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.

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