000006781 001__ 6781 000006781 005__ 20170831220339.0 000006781 037__ $$aTAZ-TFM-2011-143 000006781 041__ $$aeng 000006781 1001_ $$aLatif, Yasir 000006781 24500 $$aDense mapping of indoor environments 000006781 260__ $$aZaragoza$$bUniversidad de Zaragoza$$c2011 000006781 506__ $$aby-nc-sa$$bCreative Commons$$c3.0$$uhttp://creativecommons.org/licenses/by-nc-sa/3.0/ 000006781 520__ $$aThis thesis deals with the problem of indoor environment modelling using depth cameras. We propose a system that allows to traverse an environment with a hand held camera, and no other sensor, and compute a dense 3D textured geometric reconstruction. In the front-end, camera motion is computed by detecting interest points in the images and matching them across frames. We propose a loop closing or place recognition algorithm that is robust over time, and thus allows the system to reconsider past loop closing decisions once additional information becomes available. The backend of the system is the g2o graph optimization algorithm. We test our system both in simulations and with real data coming from a Kinect sensor. Results show that thus system is viable and precise. Our future goal is to incorporate robust outlier detection algorithms that will allow the system to ignore dynamic objects, such as people, and avoid the inclusion of these elements in the model. 000006781 521__ $$aMáster Universitario en Ingeniería de Sistemas e Informática 000006781 540__ $$aDerechos regulados por licencia Creative Commons 000006781 6531_ $$aslam 000006781 6531_ $$agraph optimization 000006781 6531_ $$aloop closing 000006781 6531_ $$adepth cameras 000006781 700__ $$aNeira Parra, José$$edir. 000006781 700__ $$aPiniés Rodríguez, Pedro$$edir. 000006781 7102_ $$aUniversidad de Zaragoza$$bInformática e Ingeniería de Sistemas$$cLenguajes y Sistemas Informáticos 000006781 8560_ $$fylatif@unizar.es 000006781 8564_ $$s1547034$$uhttps://zaguan.unizar.es/record/6781/files/TAZ-TFM-2011-143.pdf$$yMemoria (eng)$$zMemoria (eng) 000006781 909CO $$ooai:zaguan.unizar.es:6781$$pdriver$$ptrabajos-fin-master 000006781 950__ $$a 000006781 980__ $$aTAZ$$bTFM$$cEINA