<?xml version="1.0" encoding="ISO-8859-1"?><article xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<front>
<journal-meta>
<journal-id>0120-6230</journal-id>
<journal-title><![CDATA[Revista Facultad de Ingeniería Universidad de Antioquia]]></journal-title>
<abbrev-journal-title><![CDATA[Rev.fac.ing.univ. Antioquia]]></abbrev-journal-title>
<issn>0120-6230</issn>
<publisher>
<publisher-name><![CDATA[Facultad de Ingeniería, Universidad de Antioquia]]></publisher-name>
</publisher>
</journal-meta>
<article-meta>
<article-id>S0120-62302018000100054</article-id>
<article-id pub-id-type="doi">10.17533/udea.redin.n86a07</article-id>
<title-group>
<article-title xml:lang="en"><![CDATA[Dense tracking, mapping and scene labeling using a depth camera]]></article-title>
<article-title xml:lang="es"><![CDATA[Localización, mapeo, y etiquetamiento denso de la escena usando una cámara de profundidad]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Díaz-Toro]]></surname>
<given-names><![CDATA[Andrés Alejandro]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Paz-Pérez]]></surname>
<given-names><![CDATA[Lina María]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Piniés-Rodríguez]]></surname>
<given-names><![CDATA[Pedro]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Caicedo-Bravo]]></surname>
<given-names><![CDATA[Eduardo Francisco]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,Universidad del Valle Escuela de Ingeniería Eléctrica y Electrónica ]]></institution>
<addr-line><![CDATA[Cali ]]></addr-line>
<country>Colombia</country>
</aff>
<aff id="Af2">
<institution><![CDATA[,Intel Corporation  ]]></institution>
<addr-line><![CDATA[Santa Clara ]]></addr-line>
<country>Estados Unidos</country>
</aff>
<pub-date pub-type="pub">
<day>00</day>
<month>03</month>
<year>2018</year>
</pub-date>
<pub-date pub-type="epub">
<day>00</day>
<month>03</month>
<year>2018</year>
</pub-date>
<numero>86</numero>
<fpage>54</fpage>
<lpage>69</lpage>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://www.scielo.org.co/scielo.php?script=sci_arttext&amp;pid=S0120-62302018000100054&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.co/scielo.php?script=sci_abstract&amp;pid=S0120-62302018000100054&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.co/scielo.php?script=sci_pdf&amp;pid=S0120-62302018000100054&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="en"><p><![CDATA[ABSTRACT We present a system for dense tracking, 3D reconstruction, and object detection of desktop-like environments, using a depth camera; the Kinect sensor. The camera is moved by hand meanwhile its pose is estimated, and a dense model, with evolving color information of the scene, is constructed. Alternatively, the user can couple the object detection module (YOLO: you only look once [1]) for detecting and propagating to the model information of categories of objects commonly found over desktops, like monitors, keyboards, books, cups, and laptops, getting a model with color associated to object categories. The camera pose is estimated using a model-to-frame technique with a coarse-to-fine iterative closest point algorithm (ICP), achieving a drift-free trajectory, robustness to fast camera motion and to variable lighting conditions. Simultaneously, the depth maps are fused into the volumetric structure from the estimated camera poses. For visualizing an explicit representation of the scene, the marching cubes algorithm is employed. The tracking, fusion, marching cubes, and object detection processes were implemented using commodity graphics hardware for improving the performance of the system. We achieve outstanding results in camera pose, high quality of the model&#8217;s color and geometry, and stability in color from the detection module (robustness to wrong detections) and successful management of multiple instances of the same category.]]></p></abstract>
<abstract abstract-type="short" xml:lang="es"><p><![CDATA[RESUMEN Presentamos un sistema de localización con información densa, reconstrucción 3D, y detección de objetos en ambientes tipo escritorio, usando una cámara de profundidad; el sensor Kinect. La cámara se mueve manualmente mientras se estima su posición, y se construye un modelo denso con información de color de la escena que se actualiza permanentemente. El usuario puede, alternativamente, acoplar el módulo de detección de objetos (YOLO: you only look once [1]) para detectar y propagar al modelo información de categorías de objetos comúnmente encontrados sobre escritorios, como monitores, teclados, libros, vasos y laptops, obteniendo un modelo con color asociado a la categoría del objeto. La posición de la cámara es estimada usando una técnica modelo-frame con el algoritmo iterativo de punto más cercano (ICP, iterative closest point) con resolución en niveles, logrando una trayectoria libre de deriva, robustez a movimientos rápidos de la cámara y a condiciones variables de luz. Simultáneamente, los mapas de profundidad son fusionados en una estructura volumétrica desde las posiciones estimadas de la cámara. Para visualizar una representación explícita de la escena se emplea el algoritmo marching cubes. Los algoritmos de localización, fusión, marching cubes y detección de objetos fueron implementados usando hardware para procesamiento gráfico con el fin de mejorar el desempeño del sistema. Se lograron resultados sobresalientes en la posición de la cámara, alta calidad en la geometría y color del modelo, estabilidad del color usando el módulo de detección de objetos (robustez a detecciones erróneas) y manejo exitoso de múltiples instancias de la misma categoría.]]></p></abstract>
<kwd-group>
<kwd lng="en"><![CDATA[Dense reconstruction]]></kwd>
<kwd lng="en"><![CDATA[camera tracking]]></kwd>
<kwd lng="en"><![CDATA[depth sensor]]></kwd>
<kwd lng="en"><![CDATA[volumetric representation]]></kwd>
<kwd lng="en"><![CDATA[object detection]]></kwd>
<kwd lng="en"><![CDATA[multiple instance labeling]]></kwd>
<kwd lng="es"><![CDATA[Reconstrucción densa]]></kwd>
<kwd lng="es"><![CDATA[localización de la cámara]]></kwd>
<kwd lng="es"><![CDATA[sensor de profundidad]]></kwd>
<kwd lng="es"><![CDATA[representación volumétrica]]></kwd>
<kwd lng="es"><![CDATA[detección de objetos]]></kwd>
<kwd lng="es"><![CDATA[etiquetamiento de múltiples instancias]]></kwd>
</kwd-group>
</article-meta>
</front><back>
<ref-list>
<ref id="B1">
<label>1</label><nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Redmon]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
<name>
<surname><![CDATA[Divvala]]></surname>
<given-names><![CDATA[S.]]></given-names>
</name>
<name>
<surname><![CDATA[Girshick]]></surname>
<given-names><![CDATA[R.]]></given-names>
</name>
<name>
<surname><![CDATA[Farhadi]]></surname>
<given-names><![CDATA[A.]]></given-names>
</name>
</person-group>
<source><![CDATA[You Only Look Once: Unified, Real-Time Object Detection]]></source>
<year></year>
<conf-name><![CDATA[ IEEE Conference on Computer Vision and Pattern Recognition (CVPR)]]></conf-name>
<conf-date>2016</conf-date>
<conf-loc>Las Vegas, USA </conf-loc>
<page-range>779-88</page-range></nlm-citation>
</ref>
<ref id="B2">
<label>2</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Davison]]></surname>
<given-names><![CDATA[A. J]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Monoslam: Real-time single camera slam]]></article-title>
<source><![CDATA[IEEE Transactions on Pattern Analysis and Machine Intelligence]]></source>
<year>2007</year>
<volume>29</volume>
<numero>6</numero>
<issue>6</issue>
<page-range>1052-67</page-range></nlm-citation>
</ref>
<ref id="B3">
<label>3</label><nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Klein]]></surname>
<given-names><![CDATA[G.]]></given-names>
</name>
<name>
<surname><![CDATA[Murray]]></surname>
<given-names><![CDATA[D.]]></given-names>
</name>
</person-group>
<source><![CDATA[Improving the agility of keyframe-based SLAM]]></source>
<year></year>
<conf-name><![CDATA[ 10European Conference on Computer Vision]]></conf-name>
<conf-date>2008</conf-date>
<conf-loc>Marseille, France </conf-loc>
<page-range>802-15</page-range></nlm-citation>
</ref>
<ref id="B4">
<label>4</label><nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Silveira]]></surname>
<given-names><![CDATA[G.]]></given-names>
</name>
<name>
<surname><![CDATA[Malis]]></surname>
<given-names><![CDATA[E.]]></given-names>
</name>
<name>
<surname><![CDATA[Rives]]></surname>
<given-names><![CDATA[P.]]></given-names>
</name>
</person-group>
<source><![CDATA[An Efficient Direct Method for Improving visual SLAM]]></source>
<year></year>
<conf-name><![CDATA[ IEEE International Conference on Robotics and Automation]]></conf-name>
<conf-date>2007</conf-date>
<conf-loc>Rome, Italy </conf-loc>
<page-range>10-4</page-range></nlm-citation>
</ref>
<ref id="B5">
<label>5</label><nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Newcombe]]></surname>
<given-names><![CDATA[R. A.]]></given-names>
</name>
</person-group>
<source><![CDATA[KinectFusion: Real-time dense surface mapping and tracking]]></source>
<year></year>
<conf-name><![CDATA[ 10IEEE International Symposium on Mixed and Augmented Reality]]></conf-name>
<conf-date>2011</conf-date>
<conf-loc>Basel, Switzerland </conf-loc>
<page-range>127-36</page-range></nlm-citation>
</ref>
<ref id="B6">
<label>6</label><nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Whelan]]></surname>
<given-names><![CDATA[T.]]></given-names>
</name>
<name>
<surname><![CDATA[Johannsson]]></surname>
<given-names><![CDATA[H.]]></given-names>
</name>
<name>
<surname><![CDATA[Kaess]]></surname>
<given-names><![CDATA[M.]]></given-names>
</name>
<name>
<surname><![CDATA[Leonard]]></surname>
<given-names><![CDATA[. J.]]></given-names>
</name>
<name>
<surname><![CDATA[Mcdonald]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
</person-group>
<source><![CDATA[Robust real-time visual odometry for dense RGB-D mapping]]></source>
<year></year>
<conf-name><![CDATA[ IEEE International Conference on Robotics and Automation]]></conf-name>
<conf-date>2013</conf-date>
<conf-loc>Karlsruhe, Germany </conf-loc>
<page-range>5724-31</page-range></nlm-citation>
</ref>
<ref id="B7">
<label>7</label><nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Rusu]]></surname>
<given-names><![CDATA[R.]]></given-names>
</name>
<name>
<surname><![CDATA[Cousins]]></surname>
<given-names><![CDATA[S]]></given-names>
</name>
</person-group>
<source><![CDATA[3D is here: Point cloud library (PCL)]]></source>
<year></year>
<conf-name><![CDATA[ IEEE International Conference on Robotics and Automation]]></conf-name>
<conf-date>2011</conf-date>
<conf-loc>Shanghai, China </conf-loc>
<page-range>1-4</page-range></nlm-citation>
</ref>
<ref id="B8">
<label>8</label><nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Curless]]></surname>
<given-names><![CDATA[B.]]></given-names>
</name>
<name>
<surname><![CDATA[Levoy]]></surname>
<given-names><![CDATA[M.]]></given-names>
</name>
</person-group>
<source><![CDATA[A volumetric method for building com- plex models from range images]]></source>
<year></year>
<conf-name><![CDATA[ 23Annual Conference on Computer Graphics and Interactive Techniques]]></conf-name>
<conf-date>1996</conf-date>
<conf-loc>New York, USA </conf-loc>
<page-range>303-12</page-range></nlm-citation>
</ref>
<ref id="B9">
<label>9</label><nlm-citation citation-type="">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Whelan]]></surname>
<given-names><![CDATA[T.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Kintinuous: Spatially extended kinectfusion]]></article-title>
<source><![CDATA[RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras]]></source>
<year>2012</year>
<page-range>1-8</page-range><publisher-loc><![CDATA[Sydney, Australia ]]></publisher-loc>
</nlm-citation>
</ref>
<ref id="B10">
<label>10</label><nlm-citation citation-type="confpro">
<source><![CDATA[Real-Time Visual Odometry from Dense RGB-D Images]]></source>
<year></year>
<conf-name><![CDATA[ IEEE International Conference on Computer Vision Workshops]]></conf-name>
<conf-date>2011</conf-date>
<conf-loc>Barcelona, Spain </conf-loc>
<page-range>719-22</page-range></nlm-citation>
</ref>
<ref id="B11">
<label>11</label><nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Huang]]></surname>
<given-names><![CDATA[A. S.]]></given-names>
</name>
</person-group>
<source><![CDATA[Visual odometry and mapping for autonomous flight using an RGB-D camera]]></source>
<year></year>
<conf-name><![CDATA[ 15International Symposium of Robotics Research]]></conf-name>
<conf-date>2011</conf-date>
<conf-loc>Flagstaff, USA </conf-loc>
<page-range>235-52</page-range></nlm-citation>
</ref>
<ref id="B12">
<label>12</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Whelan]]></surname>
<given-names><![CDATA[T.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Real-time Large-scale Dense RGB-D SLAM with Volumetric Fusion]]></article-title>
<source><![CDATA[International Journal of Robotics Research]]></source>
<year>2015</year>
<volume>34</volume>
<numero>4</numero>
<issue>4</issue>
<page-range>598-626</page-range></nlm-citation>
</ref>
<ref id="B13">
<label>13</label><nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Whelan]]></surname>
<given-names><![CDATA[T.]]></given-names>
</name>
<name>
<surname><![CDATA[Leutenegger]]></surname>
<given-names><![CDATA[S.]]></given-names>
</name>
<name>
<surname><![CDATA[Salas-Moreno]]></surname>
<given-names><![CDATA[R.]]></given-names>
</name>
<name>
<surname><![CDATA[Glocker]]></surname>
<given-names><![CDATA[B.]]></given-names>
</name>
<name>
<surname><![CDATA[Davison]]></surname>
<given-names><![CDATA[A.]]></given-names>
</name>
</person-group>
<source><![CDATA[ElasticFusion: Dense SLAM without a Pose Graph]]></source>
<year></year>
<conf-name><![CDATA[ Robotics: Science and Systems Conference]]></conf-name>
<conf-date>2015</conf-date>
<conf-loc>Rome, Italy </conf-loc>
<page-range>1-9</page-range></nlm-citation>
</ref>
<ref id="B14">
<label>14</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Mur]]></surname>
<given-names><![CDATA[R.]]></given-names>
</name>
<name>
<surname><![CDATA[Tardós]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras]]></article-title>
<source><![CDATA[IEEE Transactions on Robotics]]></source>
<year>2017</year>
<volume>33</volume>
<numero>5</numero>
<issue>5</issue>
<page-range>1255-62</page-range></nlm-citation>
</ref>
<ref id="B15">
<label>15</label><nlm-citation citation-type="">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Concha]]></surname>
<given-names><![CDATA[A.]]></given-names>
</name>
<name>
<surname><![CDATA[Civera]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
</person-group>
<source><![CDATA[RGBDTAM: A Cost-Effective and Accurate RGB-D Tracking and Mapping System]]></source>
<year>2017</year>
</nlm-citation>
</ref>
<ref id="B16">
<label>16</label><nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Lai]]></surname>
<given-names><![CDATA[K.]]></given-names>
</name>
<name>
<surname><![CDATA[Bo]]></surname>
<given-names><![CDATA[L.]]></given-names>
</name>
<name>
<surname><![CDATA[Ren]]></surname>
<given-names><![CDATA[X.]]></given-names>
</name>
<name>
<surname><![CDATA[Fox]]></surname>
<given-names><![CDATA[D.]]></given-names>
</name>
</person-group>
<source><![CDATA[Detection-based object labeling in 3d scenes]]></source>
<year></year>
<conf-name><![CDATA[ IEEE International Conference on Robotics and Automation]]></conf-name>
<conf-date>2012</conf-date>
<conf-loc>St. Paul, USA </conf-loc>
<page-range>1330-7</page-range></nlm-citation>
</ref>
<ref id="B17">
<label>17</label><nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Lai]]></surname>
<given-names><![CDATA[K.]]></given-names>
</name>
<name>
<surname><![CDATA[Bo]]></surname>
<given-names><![CDATA[L.]]></given-names>
</name>
<name>
<surname><![CDATA[Fox]]></surname>
<given-names><![CDATA[D.]]></given-names>
</name>
</person-group>
<source><![CDATA[Unsupervised feature learning for 3d scene labeling]]></source>
<year></year>
<conf-name><![CDATA[ IEEE International Conference on Robotics and Automation]]></conf-name>
<conf-date>2014</conf-date>
<conf-loc>Hong Kong, China </conf-loc>
<page-range>3050-7</page-range></nlm-citation>
</ref>
<ref id="B18">
<label>18</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Bao]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
<name>
<surname><![CDATA[Jia]]></surname>
<given-names><![CDATA[Y.]]></given-names>
</name>
<name>
<surname><![CDATA[Cheng]]></surname>
<given-names><![CDATA[Y.]]></given-names>
</name>
<name>
<surname><![CDATA[Xi]]></surname>
<given-names><![CDATA[N.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Saliency-guided detection of unknown objects in RGB-D indoor scene]]></article-title>
<source><![CDATA[Sensors]]></source>
<year>2015</year>
<volume>15</volume>
<numero>9</numero>
<issue>9</issue>
<page-range>21054-74</page-range></nlm-citation>
</ref>
<ref id="B19">
<label>19</label><nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Ren]]></surname>
<given-names><![CDATA[C.]]></given-names>
</name>
<name>
<surname><![CDATA[Prisacariu]]></surname>
<given-names><![CDATA[V.]]></given-names>
</name>
<name>
<surname><![CDATA[Murray]]></surname>
<given-names><![CDATA[D.]]></given-names>
</name>
<name>
<surname><![CDATA[Reid]]></surname>
<given-names><![CDATA[I.]]></given-names>
</name>
</person-group>
<source><![CDATA[Star3d: Simultaneous tracking and reconstruction of 3d objects using rgb-d data]]></source>
<year></year>
<conf-name><![CDATA[ International Conference on Computer Vision]]></conf-name>
<conf-date>2013</conf-date>
<conf-loc>Sydney, Australia </conf-loc>
<page-range>1561-8</page-range></nlm-citation>
</ref>
<ref id="B20">
<label>20</label><nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Ma]]></surname>
<given-names><![CDATA[L.]]></given-names>
</name>
<name>
<surname><![CDATA[Sibley]]></surname>
<given-names><![CDATA[G.]]></given-names>
</name>
</person-group>
<source><![CDATA[Unsupervised dense object discovery, detection, tracking and reconstruction]]></source>
<year></year>
<conf-name><![CDATA[ European Conference on Computer Vision]]></conf-name>
<conf-date>2014</conf-date>
<conf-loc>Zurich, Switzerland </conf-loc>
<page-range>80-95</page-range></nlm-citation>
</ref>
<ref id="B21">
<label>21</label><nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Lorensen]]></surname>
<given-names><![CDATA[W.]]></given-names>
</name>
<name>
<surname><![CDATA[Cline]]></surname>
<given-names><![CDATA[H.]]></given-names>
</name>
</person-group>
<source><![CDATA[Marching cubes: A high resolution 3D surface construction algorithm]]></source>
<year></year>
<conf-name><![CDATA[ 14Annual Conference on Computer Graphics and Interactive Techniques]]></conf-name>
<conf-date>1987</conf-date>
<conf-loc>New York, USA </conf-loc>
<page-range>163-9</page-range></nlm-citation>
</ref>
<ref id="B22">
<label>22</label><nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Parker]]></surname>
<given-names><![CDATA[S.]]></given-names>
</name>
<name>
<surname><![CDATA[Shirley]]></surname>
<given-names><![CDATA[P.]]></given-names>
</name>
<name>
<surname><![CDATA[Livnat]]></surname>
<given-names><![CDATA[Y.]]></given-names>
</name>
<name>
<surname><![CDATA[Hansen]]></surname>
<given-names><![CDATA[C.]]></given-names>
</name>
<name>
<surname><![CDATA[Sloan]]></surname>
<given-names><![CDATA[P.]]></given-names>
</name>
</person-group>
<source><![CDATA[Interactive ray tracing for isosurface rendering]]></source>
<year></year>
<conf-name><![CDATA[ Conference on Visualization]]></conf-name>
<conf-date>1998</conf-date>
<conf-loc>Los Alamitos, USA </conf-loc>
<page-range>233-8</page-range></nlm-citation>
</ref>
<ref id="B23">
<label>23</label><nlm-citation citation-type="confpro">
<source><![CDATA[A Parallel Algorithm for Polygon Rasterization]]></source>
<year></year>
<conf-name><![CDATA[ 15Annual Conference on Computer Graphics and Interactive Techniques]]></conf-name>
<conf-date>1988</conf-date>
<conf-loc>New York, USA </conf-loc>
<page-range>17-20</page-range></nlm-citation>
</ref>
<ref id="B24">
<label>24</label><nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Kerl]]></surname>
<given-names><![CDATA[C.]]></given-names>
</name>
<name>
<surname><![CDATA[Sturm]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
<name>
<surname><![CDATA[Cremers]]></surname>
<given-names><![CDATA[D.]]></given-names>
</name>
</person-group>
<source><![CDATA[Robust odometry estimation for RGB-D cameras]]></source>
<year></year>
<conf-name><![CDATA[ International Conference on Robotics and Automation]]></conf-name>
<conf-date>2013</conf-date>
<conf-loc>Karlsruhe, Germany </conf-loc>
<page-range>3748-54</page-range></nlm-citation>
</ref>
<ref id="B25">
<label>25</label><nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Bylow]]></surname>
<given-names><![CDATA[E.]]></given-names>
</name>
<name>
<surname><![CDATA[Sturm]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
<name>
<surname><![CDATA[Kerl]]></surname>
<given-names><![CDATA[C.]]></given-names>
</name>
<name>
<surname><![CDATA[Kahl]]></surname>
<given-names><![CDATA[F.]]></given-names>
</name>
<name>
<surname><![CDATA[Cremers]]></surname>
<given-names><![CDATA[D.]]></given-names>
</name>
</person-group>
<source><![CDATA[Real-time camera tracking and 3d reconstruction using signed distance functions]]></source>
<year></year>
<conf-name><![CDATA[ Robotics: Science and Systems Conference]]></conf-name>
<conf-date>2013</conf-date>
<conf-loc>Berlin, Germany </conf-loc>
<page-range>8-16</page-range></nlm-citation>
</ref>
<ref id="B26">
<label>26</label><nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Díaz]]></surname>
<given-names><![CDATA[A.]]></given-names>
</name>
<name>
<surname><![CDATA[Paz]]></surname>
<given-names><![CDATA[L.]]></given-names>
</name>
<name>
<surname><![CDATA[Caicedo]]></surname>
<given-names><![CDATA[E.]]></given-names>
</name>
<name>
<surname><![CDATA[Piniés]]></surname>
<given-names><![CDATA[P.]]></given-names>
</name>
</person-group>
<source><![CDATA[Dense Tracking with Range Cameras Using Key Frames]]></source>
<year></year>
<conf-name><![CDATA[ Latin American Robotics Symposium and Brazilian Conference on Robotics]]></conf-name>
<conf-date>2016</conf-date>
<conf-loc>Uberlandia, Brasil </conf-loc>
<page-range>20-38</page-range></nlm-citation>
</ref>
<ref id="B27">
<label>27</label><nlm-citation citation-type="">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Redmon]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
</person-group>
<source><![CDATA[Darknet: Open source neural networks inc]]></source>
<year>2013</year>
</nlm-citation>
</ref>
<ref id="B28">
<label>28</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Russakovsky]]></surname>
<given-names><![CDATA[O.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[ImageNet Large Scale Visual Recognition Challenge]]></article-title>
<source><![CDATA[International Journal of Computer Vision]]></source>
<year>2015</year>
<volume>115</volume>
<numero>3</numero>
<issue>3</issue>
<page-range>211-52</page-range></nlm-citation>
</ref>
<ref id="B29">
<label>29</label><nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Sturm]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
<name>
<surname><![CDATA[Engelhard]]></surname>
<given-names><![CDATA[N.]]></given-names>
</name>
<name>
<surname><![CDATA[Endres]]></surname>
<given-names><![CDATA[F.]]></given-names>
</name>
<name>
<surname><![CDATA[Burgard]]></surname>
<given-names><![CDATA[W.]]></given-names>
</name>
<name>
<surname><![CDATA[Cremers]]></surname>
<given-names><![CDATA[D.]]></given-names>
</name>
</person-group>
<source><![CDATA[A Benchmark for the Evaluation of RGB-D SLAM Systems]]></source>
<year></year>
<conf-name><![CDATA[ International Conference on Intelligent Robot Systems (IROS)]]></conf-name>
<conf-date>2012</conf-date>
<conf-loc>Vilamoura, Portugal </conf-loc>
<page-range>573-80</page-range></nlm-citation>
</ref>
<ref id="B30">
<label>30</label><nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Handa]]></surname>
<given-names><![CDATA[A.]]></given-names>
</name>
<name>
<surname><![CDATA[Newcombe]]></surname>
<given-names><![CDATA[R. A.]]></given-names>
</name>
<name>
<surname><![CDATA[Davison]]></surname>
<given-names><![CDATA[A. J.]]></given-names>
</name>
</person-group>
<source><![CDATA[Real-time camera tracking: When is high frame-rate best?]]></source>
<year></year>
<conf-name><![CDATA[ 12of the European Conference on Computer Vision]]></conf-name>
<conf-date>2012</conf-date>
<conf-loc>Florence, Italy </conf-loc>
<page-range>222-35</page-range></nlm-citation>
</ref>
</ref-list>
</back>
</article>
