[ros-users] ccny_rgbd: Fast Visual Odometry and Mapping with RGB-D data

Ivan Dryanovski ivan.dryanovski at gmail.com
Tue Feb 12 22:18:21 UTC 2013

Hello everyone,

We are pleased to release ccny_rgbd, a collection of tools for fast
visual odometry and 3D mapping with RGB-D cameras. Highlight of the
software include:

 * RGB-D image processing pipeline
 * Fast, lightweight visual odometry, operating at 30+ Hz on VGA data
(single thread, no GPU)
 * 3D map server which supports saving/loading and graph-based optimization

The documentation is available at the ROS wiki:

 *  https://github.com/ccny-ros-pkg/ccny_rgbd_tools

This video shows an overview of the functionality:

 * http://youtu.be/YE9eKgek5pI

The code is available for download on github, and currently supports
ROS fuerte and groovy:

 * http://www.ros.org/wiki/ccny_rgbd

The software was developed in conjunction with our upcoming ICRA2013
publication [1].



[1]  Ivan Dryanovski, Roberto G. Valenti, Jizhong Xiao. Fast Visual
Odometry and Mapping from RGB-D Data. 2013 International Conference on
Robotics and Automation (ICRA2013).

Ivan Dryanovski
The Graduate Center, City University of New York (CUNY)
CCNY Robotics Lab

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