MapFuse: Complete and Realistic 3D Modelling

Figure 12

We assessed the RGB-D SLAM algorithm in several environments. First, we tested indoor environments as shown in (a), (b), and (c). Second, we applied the algorithm to map an industrial train cart ((d) and (e)).

(a) Room V315 at the University of Antwerp, where we recorded dataset 2

(b) RGB-D SLAM result for dataset 2

(c) RGB-D SLAM result for dataset 4

(d) Dataset 3 was recorded with the purpose of modelling an industrial tank car at the port of Antwerp

(e) RGB-D SLAM result for dataset 3