Master thesis: Real-time large-scale SLAM from RGB-D data

You will extend an existing RGB-D reconstruction system to support large-scale scenes. In a first step you will evaluate and implement state-of-the-art algorithms for tracking and reconstruction from RGB-D data. Secondly, you will also evaluate and implement algorithms for texturing the obtained reconstruction from camera images. The real-time critical components will be implemented on a GPU.

This project will be carried out in collaboration between the Chair for Computer Aided Medical Procedures and ImFusion GmbH. Further information about the company can be found at http://www.imfusion.de. The candidate will work at the ImFusion offices in Munich.

Requirements:

• Very good C++ skills
• Familiarity with basic computer vision concepts
• Practical experience in implementing computer vision or image processing algorithms
• Good skills in OpenGL and OpenCL or CUDA