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An open source implementation of KinectFusion

We are happy to announce the development of a new open source implementation of KinectFusion, a simple system for 3D local mapping with an OpenNI-compatible camera. Below you can find the original SIGGRAPH video, together with a complete description of the algorithm presented in KinectFusion: Real-Time Dense Surface Mapping and Tracking.

For a quick comparison, here's a demonstration of our current implementation's capabilities:

The preliminary source code is currently available in our SVN repository's trunk in the CUDA/KinFu module. Since this code is still unreleased and under active development, we won't be able to provide support via our forums yet; however, advanced users are free to check out the code and give it a try. Be advised that this code relies heavily on the NVidia CUDA development libraries for GPU optimizations and will require a compatible GPU for best results.

Moving forward, we continue to refine and improve the system, and we are hoping to improve upon the original algorithm in order to model larger scale environments in the near future. We are targeting a stable release date to coincide with the upcoming PCL 2.0 release next year. (Please note there is no planned release in the 1.x branch.)

Edit: if you'd like to use this in your academic work, please cite:

KinectFusion: Real-Time Dense Surface Mapping and Tracking
ISMAR 2011 (Winner, Best Science and Technology Paper)
Richard A. Newcombe, Shahram Izadi, Otmar Hilliges, David Molyneaux, David Kim, Andrew J. Davison, Pushmeet Kohli, Jamie Shotton, Steve Hodges, and Andrew Fitzgibbon


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