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The research in dense online 3D mapping is mostly focused on the geometricalaccuracy and spatial extent of the reconstructions. Their color appearance isoften neglected, leading to inconsistent colors and noticeable artifacts. Werectify this by extending a state-of-the-art SLAM system to accumulate colorsin HDR space. We replace the simplistic pixel intensity averaging scheme withHDR color fusion rules tailored to the incremental nature of SLAM and a noisemodel suitable for off-the-shelf RGB-D cameras. Our main contribution is amap-aware exposure time controller. It makes decisions based on the globalstate of the map and predicted camera motion, attempting to maximize theinformation gain of each observation. We report a set of experimentsdemonstrating the improved texture quality and advantages of using the customcontroller that is tightly integrated in the mapping loop.

High Dynamic Range SLAM with Map-Aware Exposure Time Control