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

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。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.中国医学科学研究院北京协和医院“863”计划(No.754214019)。中文核心期刊要目总览(PKU)中国科技核心期刊(ISTIC)24199-20