{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/robust-keyframe-based-dense-slam-with-an-rgb","title":"Robust Keyframe-based Dense SLAM with an RGB-D Camera","arxiv_id":"1711.05166","date":"2017-11-14","proceeding":null,"authors":["Hao-Min Liu","Chen Li","Guojun Chen","Guofeng Zhang","Michael Kaess","Hujun Bao"],"abstract":"In this paper, we present RKD-SLAM, a robust keyframe-based dense SLAM\napproach for an RGB-D camera that can robustly handle fast motion and dense\nloop closure, and run without time limitation in a moderate size scene. It not\nonly can be used to scan high-quality 3D models, but also can satisfy the\ndemand of VR and AR applications. First, we combine color and depth information\nto construct a very fast keyframe-based tracking method on a CPU, which can\nwork robustly in challenging cases (e.g.~fast camera motion and complex loops).\nFor reducing accumulation error, we also introduce a very efficient incremental\nbundle adjustment (BA) algorithm, which can greatly save unnecessary\ncomputation and perform local and global BA in a unified optimization\nframework. An efficient keyframe-based depth representation and fusion method\nis proposed to generate and timely update the dense 3D surface with online\ncorrection according to the refined camera poses of keyframes through BA. The\nexperimental results and comparisons on a variety of challenging datasets and\nTUM RGB-D benchmark demonstrate the effectiveness of the proposed system.","url_abs":"http://arxiv.org/abs/1711.05166v1","url_pdf":"http://arxiv.org/pdf/1711.05166v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"robust-keyframe-based-dense-slam-with-an-rgb","repo_url":"https://github.com/StevenCui/ICE-BA-Mono-Android","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null},{"paper_slug":"robust-keyframe-based-dense-slam-with-an-rgb","repo_url":"https://github.com/StevenCui/ICE-BA-Mono-Annotation","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null},{"paper_slug":"robust-keyframe-based-dense-slam-with-an-rgb","repo_url":"https://github.com/ZJUCVG/EIBA","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null},{"paper_slug":"robust-keyframe-based-dense-slam-with-an-rgb","repo_url":"https://github.com/arenas7307979/ICE-BA-Testing","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null},{"paper_slug":"robust-keyframe-based-dense-slam-with-an-rgb","repo_url":"https://github.com/baidu/ICE-BA","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null},{"paper_slug":"robust-keyframe-based-dense-slam-with-an-rgb","repo_url":"https://github.com/wangyuanbiubiubiu/ICE-BA-Annotation","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null},{"paper_slug":"robust-keyframe-based-dense-slam-with-an-rgb","repo_url":"https://github.com/wangyuanbiubiubiu/ICE-BA-ros","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null},{"paper_slug":"robust-keyframe-based-dense-slam-with-an-rgb","repo_url":"https://github.com/wbnature/ICE-BA","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[{"task_slug":null,"task_name":"CPU"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}