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International Journal of Advanced Robotic Systems 3 D Reconstruction Using Interval Methods on The Kinect Device Coupled With an IMU Regular Paper

The principle behind VSLAM  applications  like 3D object reconstruction or indoor mapping is to estimate the  spatial  transformation  between  two  large  clouds  of points,  which  represent  two  poses  of  the  same  scene. They can further be processed to obtain detailed surfaces. Since its introduction in 1992, the standard algorithm for finding  the  alignment  between  two  point  clouds  is  ICP (Iterative Closest Point) and  its variants,  combined with RANSAC  (RANdom  SAmple  Consensus).  This  paper presents a new approach using interval analysis. The idea is  to  define  large  intervals  for  the  transformation parameters  between  the  poses  then  to  successively contract  those  intervals  using  the  equations  of  the transformation  of  corresponding  points  between  the poses.  To  contract  those  intervals  faster,  we  added  an IMU  (Inertial Measurement Unit)  to  our  system  so  the initial intervals of the parameters are already small before applying  the  contractions.  We  implemented  our algorithm  using  the middleware ROS  (Robot Operating System) and stated our performances.