├── CHANGELOG ├── CMakeLists.txt ├── LICENSE ├── README.md ├── config ├── KinectConfig.xml └── kth-rgbd.cfg ├── doc ├── Makefile ├── abstract.tex ├── acknowledgements.tex ├── contents.tex ├── figures │ ├── coordinates.png │ ├── coordinates.svg │ ├── cvap_7th.png │ ├── cvap_7th_4r_sift.png │ ├── cvap_7th_4r_surf.png │ ├── cvap_7th_rotated.png │ ├── drift_y_sift.png │ ├── drift_y_surf.png │ ├── graph_lc1.png │ ├── graph_lc2.png │ ├── graph_lc_candidate.png │ ├── graph_lc_sw1.png │ ├── graph_lc_sw2.png │ ├── graph_overview.png │ ├── narf_descriptor_visualization.png │ ├── overview.png │ ├── overview_rgb_depth.png │ ├── poses_4r_initial.png │ ├── poses_4r_odometry_raw.png │ ├── poses_4r_optimized.png │ ├── ransac1.png │ ├── ransac2.png │ ├── ransac3.png │ ├── sift_descriptor.jpg │ ├── sift_dog.jpg │ ├── stats_features_nb.png │ ├── stats_features_tbf.png │ ├── stats_features_time.png │ ├── surf_descriptor.png │ ├── surf_lxy.png │ ├── surf_lyy.png │ ├── surf_orientation.png │ ├── surf_scale.png │ └── visual_slam.png ├── glossary.tex ├── kth-abs.tex ├── kth-mag.cls ├── kth_svv_comp_science_comm.pdf ├── kthesis.cls ├── kthspik.cls ├── nada-ex.sty ├── references.bib ├── sammanfattning.tex └── thesis.tex ├── matlab ├── compute_distance.m ├── cureslampose-set4.tdf ├── cvap_tr14_floor7-rlm.txt ├── draw_cvap.m ├── draw_traj.m ├── drawodom.m ├── plot_matrix.m ├── plot_poses.m ├── plot_poses_xyz.m ├── plot_transfo.m └── stats_feature.m ├── scripts ├── archive_results.sh ├── clean.sh ├── main.sh ├── record.sh ├── restore_results.sh ├── sequence.sh └── varenv.sh ├── src ├── CMakeLists.txt ├── CameraDevice.cpp ├── CameraDevice.h ├── CommonTypes.h ├── Config.cpp ├── Config.h ├── ConfigFile.cpp ├── ConfigFile.h ├── Display.cpp ├── Display.h ├── FrameData.cpp ├── FrameData.h ├── Graph.cpp ├── Graph.h ├── Matching.cpp ├── Matching.h ├── PointCloud.cpp ├── PointCloud.h ├── Sequence.cpp ├── Sequence.h ├── TimeTracker.h └── main.cpp └── test ├── CMakeLists.txt └── testOpenNI.cpp 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