Computer Engineering and Applications ›› 2014, Vol. 50 ›› Issue (24): 199-203.

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Real-time 3-D reconstruction algorithm based on Kinect and MonoSLAM

XIA Wenling1, GU Zhaopeng2, YANG Tangsheng2   

  1. 1.College of Electrical and Information Engineering, Hunan University, Changsha 410000, China
    2.School of Computer and Information Engineering, Peking University Shenzhen Graduate School, Shenzhen, Guangdong 518000, China
  • Online:2014-12-15 Published:2014-12-12



  1. 1.湖南大学 电气与信息工程学院,长沙 410000
    2.北京大学深圳研究院 信息工程学院,广东 深圳 518000

Abstract: As an important branch of the computer vision technology, the 3-D reconstruction techniques based on the Monocular vision get more and more attention, for it’s simple, low cost and easy to implement. This paper launches a study on the algorithm of the SLAM(Simultaneous Localization and Mapping) by introducing the RGB-D camera Kinect to obtain the depth information of the 3D scene. An algorithm of the 3-D reconstruction based on the Kinect and monocular vision SLAM is achieved.

Key words: monocular vision, 3-D reconstruction, Simultaneous Localization and Mapping(SLAM), Kinect

摘要: 作为计算机视觉技术的一个重要分支,基于单目视觉的三维重建技术以其要求简单、成本低廉、易于实现等优点,得到了越来越多的关注。在室内环境下就智能机器人的同步定位以及环境地图创建(SLAM)算法展开了研究,引入RGB-D相机Kinect直接获取3D场景的深度信息,实现了一种基于单目视觉SLAM与Kinect的实时三维重建方法。

关键词: 单目视觉, 三维重建, 同步定位以及环境地图创建, Kinect