Parallel implementation of 3D modelling of indoor environment using Microsoft Kinect sensor

Abstract

3D visual modelling of indoor space will not only provide the detailed knowledge about the environment but also rich contextual information of the existing objects. In this paper, we propose a parallel implementation of 3D modelling of indoor environment using Microsoft Kinect depth camera. 3D maps are generated by Simultaneous Localization And Mapping [SLAM] technique. These 3-D maps will be more useful in Context aware and in Robotics applications. Iterative Closest Point [ICP] with initial guess by RANSAC is used for pair alignment. Many tasks of pair registration are parallelised using OpenMP and the performance evaluation of both sequential and parallel implementations are compared. Simulation results demonstrate that OpenMP based parallel implementation has achieved a speedup factor of 3.7. � 2013 IEEE.