Gonçalves, Luiz Marcos GarciaSilva, Bruno Marques Ferreira da2016-05-052016-05-052015-07-31SILVA, Bruno Marques Ferreira da. Registro global de nuvens de pontos RGB-D em tempo real usando fluxo óptico e marcadores. 2015. 103f. Tese (Doutorado em Engenharia Elétrica e de Computação) - Centro de Tecnologia, Universidade Federal do Rio Grande do Norte, Natal, 2015.https://repositorio.ufrn.br/jspui/handle/123456789/20393Registration of point clouds captured by depth sensors is an important task in 3D reconstruction applications based on computer vision. In many applications with strict performance requirements, the registration should be executed not only with precision, but also in the same frequency as data is acquired by the sensor. This thesis proposes theuse of the pyramidal sparse optical flow algorithm to incrementally register point clouds captured by RGB-D sensors (e.g. Microsoft Kinect) in real time. The accumulated errorinherent to the process is posteriorly minimized by utilizing a marker and pose graph optimization. Experimental results gathered by processing several RGB-D datasets validatethe system proposed by this thesis in visual odometry and simultaneous localization and mapping (SLAM) applications.porAcesso AbertoVisão computacionalSLAMSensores RGB-DFluxo ópticodoctoralThesisCNPQ::ENGENHARIAS::ENGENHARIA ELETRICA E DE COMPUTAÇÃO