An improved RGB-D SLAM algorithm based on Kinect sensor

This paper presents an improved frontend algorithm of RGB-D SLAM, that is, Extend-RGBD-ICP algorithm. After introducing the existing frontend algorithm and analyzing its drawbacks, we present three improvement aspects: point cloud data down-sampling, matching points´ selection and elimination of cumulative error of consecutive frames splicing. From the experiments on different complexities scenarios and the evaluation on benchmark dataset, it can be seen that the Extend-RGBD-ICP algorithm can achieve both accuracy and efficiency.