RGBD mapping solution for low-cost robot

This paper is focused on the proposal and verification of the RGBD mapping system for a small, low-cost mobile robot. The solution's requested properties were easy to replicate and easy to extend for further development on commonly available personal computers. The proposed solution is based on a Kinect sensor. Furthermore, 14 feature detectors were evaluated, and an ORB detector was chosen for the final implementation. In the image, pre-processing CLAHE filter was applied. Post-processing used the modification of the RANSAC method. The final solution proves a globally consistent SLAM based on an RGBD sensor. The article also presents research, which suggests a parallelization scheme of the computational process using a multi-core CPU to achieve real-time processing.