Create a Linux application using Microsoft Kinect to do 3D mapping

Hardware setup: -Using a Microsoft Kinect sensor connected to a Linux PC -Connected to a simple robot (stepper motors) Task 1: Data collection: As the robot is driven around it collects 3D point clouds. This data is to be stored on the Linux computer along with the position of the robot deduced from it's stepper motors and the color camera. Task 2: Create an application which combines the point clouds, and color images in real time. This creates a single large point cloud with the combined information. Task 3: Create an application to display the information in real time. For example, as the robot is driving in a room it builds a progressively larger map of the room. The application should show where the robot is in the room.