Wednesday, March 7, 2012

A new engineer. Kinect6DSLAM source code and report

Yesterday I presented my Final Year Project about Kinect SLAM 6D and now I am officially an engineer. It has been a long time since my last entry, but I have been very busy writing the final report, preparing the presentation, etc. Those past few months have been very tough, but I have learnt a lot and I am very proud of that, so I want to thank the people that have supported me during this time.

I would like to express my gratitude to my advisors Dr. D. Javier González and Dr. D. José Luis Blanco, who have devoted all the needed time and effort to help me overcome the difficulties I have encountered and, without whose assistance, it would not been possible to carry out this project.

I am also grateful to all the authors, who have generously allowed me to use part of their material to illustrate several pages of my final report. I would also like to thank the researchers that have helped me during all my project, helping me to integrate their algorithms and sharing their ideas.

Last but not least, I feel grateful to my family, which has tireless supported me since the beginning. To my friends who have been with me when I needed. And finally I feel extremely grateful to Araceli, who has not only suffered most of my work hours, but has always encouraged me to go ahead in the hardest moments. Thank you very much.


I have received a few emails asking me to release the source code of my Kinect6DSLAM project and Final Year Project report, so I have decided to publish both here so they can be downloaded from everyone.

A 3D map reconstructed in realtime with Kinect6DSLAM.

I have uploaded the source code to a repository of Github which can be accessed here:

Main page of the Doxygen documentation of the Kinect6DSLAM project.

The code comes with a (small) Doxygen documentation which briefly describes the project, how to install the software and how to use it. The documentation can be consulted in the "doc" directory: KinectSLAM6D/doc/html/index.html.

For the Final Year Project report I have decided to share a public link to the pdf document. The only problem is that the whole document is in spanish, but at least it is well illustrated and can be understandable, I think. The report can be downloaded from the following link:

I have also decided to publish the slides of the Final Year Project presentation, which can be found in the following public link: