RGB-D SLAM with Deep Depth Completion


21st International Conference on Artificial Intelligence and Soft Computing, ICAISC 2022, Zakopane, Poland, 19 - 23 June 2022, vol.13589 LNAI, pp.59-67 identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 13589 LNAI
  • Doi Number: 10.1007/978-3-031-23480-4_5
  • City: Zakopane
  • Country: Poland
  • Page Numbers: pp.59-67
  • Keywords: Depth completion, Depth estimation, SLAM
  • Hacettepe University Affiliated: Yes


RGB-D indoor mapping has been an active research topic in the last decade with the release of various depth sensors. Researchers proposed impressive SLAM systems such as ORB-SLAM2. However, the depth sensors are sensitive to illumination conditions and have limited range, which lead to missing or invalid depth data. This situation negatively affects the performance of RGB-D SLAM systems. Moreover, deep learning based approaches for estimating depth data from color frames have been proposed recently. Therefore, in this study, we aim to analyze deep depth estimation performance on SLAM. We propose a depth completion approach which merges sensor depth data and the estimated depth. To do this, we integrate a deep depth estimation method into a state-of-the-art indoor RGB-D SLAM system. The experimental results show that the proposed depth completion approach improves mapping performance.