In this masters thesis a technique for 3d mapping of featureless indoor environments is presented. It is based on simple projected features, which are tracked by a hand-held Kinect v2 sensor to produce a stable estimate of the current position. …
This thesis presents a camera-based identification and localization of objects. In this regard, a unique 3d surface reconstruction is performed for each object, in which object-specific features are assigned to each surface point. The reconstruction …