Midpoint Check

To improve the performance of real-time implementation of RGB-D 3D environment reconstruction, the following algorithm could be considered to implement with CUDA.
1. SURF(Speeded Up Robust Feature) detector/descriptor/matching
2. RANSAC
3. ICP(Iterative Cloud Point)

By midpoint I have basically done testing GPU based SURF algorithm and modify the interface to be integrated in ROS. It relies on OpenCV, OpenSurf, CUDPP and CUDA SURF libraries.

Next is to combine RANSAC pose estimation and ICP into sequential kernels with minimum memory transfer. Real-time rendering with OpenGL in rviz node should be considered as well.

The midpoint check presentation could be downloaded here.