A cost effective open-source three-dimensional reconstruction system and trajectory analysis for mobile robots

This paper discusses the acquisition of image and depth data from the Microsoft Kinect´s sensors for the subsequent reconstruction of a tridimensional environment, also emphasizing the stage of data pre-processing. Additionally, an algorithm that uses 3D reconstruction in order to verify if a selected trajectory is a viable route without obstacles along its path is proposed. Results from tridimensional environment reconstructions and viable trajectories are presented to demonstrate the performance of the approach.