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Newcombe and Izadi et al’s KinectFusion [5] is an impressive new algorithm for real-time dense 3D mapping using the Kinect. It is geared towards games and augmented reality, but could also be of great use for robot perception. However, the algorithm is currently limited to a relatively small volume fixed in the world at start up (typically a ∼ 3m cube). This limits applications for perception. Here we report moving volume KinectFusion with additional algorithms that allow the camera to roam freely. We are interested in perception in rough terrain, but the system would also be useful in other applications including free-roaming games and awareness aids for hazardous environments or the visually impaired. Our approach allows the algorithm to handle a volume that moves arbitrarily on-line (Figure 1).

Moving Volume KinectFusion