Hordur Johannsson

TL;DR: The Bayes tree is applied to obtain a completely novel algorithm for sparse nonlinear incremental optimization, named iSAM2, which achieves improvements in efficiency through incremental variable re-ordering and fluid relinearization, eliminating the need for periodic batch steps.

TL;DR: An extension to the KinectFusion algorithm that permits dense mesh-based mapping of extended scale environments in real-time and a comparison between the two approaches where a trade off between the reduced drift of the visual odometry approach and the higher local mesh quality of the ICP-based approach is provided.

TL;DR: In this article, a volumetric fusion-based surface reconstruction system for real-time SLAM is presented. But the system is limited to a single RGB-D sensor.

TL;DR: This paper presents a new simultaneous localization and mapping (SLAM) system capable of producing high-quality globally consistent surface reconstructions over hundreds of meters in real time with only a low-cost commodity RGB-D sensor and shows that the system performs strongly in terms of trajectory estimation, map quality and computational performance in comparison to other state-of-the-art systems.

TL;DR: In this paper, the authors describe extensions to the Kintinuous algorithm for spatially extended KinectFusion, incorporating the integration of multiple 6DOF camera odometry estimation methods for robust tracking.