Freihand 3D-Kartierung merkmalsarmer Indoor-Umgebungen


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. Different feature-detectors were tested and pre-filters have been developed and implemented. The correspondence-problem is being solved by using a novel indexing structure based on the geometric properties of a features neighbourhood.