A brute force approach to depth camera odometry

By providing direct access to 3D information of the environment, depth cameras are particularly useful for perception applications such as Simultaneous Localization And Mapping or object recognition. With the introduction of the Kinect in 2010, Microsoft released a low cost depth camera that is now intensively used by researchers, especially in the field of indoor robotics. This paper introduces a new 3D registration algorithm that can deal with considerable sensor motion. The proposed approach is designed to take advantage of the powerful computational scalability of Graphics Processing Units (GPU).