So we have had some accuracy problems with the SLAM system. We adopted a Kinect2 which has a higher resolution than the Kinect1. We combined the RGB information of the camera with the Time of Flight information from the infrared camera and sensors intergrated into the Kinect. This reduced the stuttering of the camera and increased accuracy a lot.
The system is however still not as expected. As it turns out the system is quite sensitive to motion in the background. When many people walk through it’s viewing field it will think it is moving relative to the image and sent incorrect data to the robot. We plan on solving this by pointing the camera lower to the ground and build a low barrier pasted with checkerboard around the painting area. These will generate a lot of fixed high contrast points for the camera to pick up and remain more stationary.