ReFusion: 3D Reconstruction in Dynamic Environments for RGB-D Cameras Exploiting Residuals

Understand

Mapping and localization are essential capabilities of robotic systems.

• Although the majority of mapping systems focus on static environments, the deployment in real-world situations requires them to handle dynamic objects.
• In this paper, we propose an approach for an RGB-D sensor that is able to consistently map scenes containing multiple dynamic elements.
• For localization and mapping, we employ an efficient direct tracking on the truncated signed distance function (TSDF) and leverage color information encoded in the TSDF to estimate the pose of the sensor.