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This is an OpenCV package for simulating Kinect noise as described in the following paper:
A Benchmark for RGB-D Visual Odometry , 3D Reconstruction and SLAM.
Ankur Handa, Thomas Whelan, John McDonald, Andrew J. Davison
In ICRA, 2014
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Main reference:Handa, A., Whelan, T., Mcdonald, J., & Davison, A. J. (2014). A Benchmark for RGB-D Visual Odometry , 3D Reconstruction and SLAM. In ICRA.