Efficient generation of 3D surfel maps using RGB-D sensors

• Autorzy: Wilkowski A. , Kornuta T. , Stefańczyk M. , Kasprzak W.

Identyfikatory

DOI

10.1515/amcs-2016-0007

• Języki publikacji: EN

Abstrakty

EN

The article focuses on the problem of building dense 3D occupancy maps using commercial RGB-D sensors and the SLAM approach. In particular, it addresses the problem of 3D map representations, which must be able both to store millions of points and to offer efficient update mechanisms. The proposed solution consists of two such key elements, visual odometry and surfel-based mapping, but it contains substantial improvements: storing the surfel maps in octree form and utilizing a frustum culling-based method to accelerate the map update step. The performed experiments verify the usefulness and efficiency of the developed system.

Słowa kluczowe

EN

RGB-D sensor; V-SLAM; surfel map; frustum culling; octree

PL

czujnik RGB-D; V-SLAM; drzewo ósemkowe

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2016
• Tom: Vol. 26, no. 1
• Strony: 99--122
• Opis fizyczny: Bibliogr. 57 poz., rys., tab., wykr.

Twórcy

autor

Wilkowski A.

• Industrial Research Institute for Automation and Measurements, Al. Jerozolimskie 202, 02-486 Warsaw, Poland

autor

Kornuta T.

• Institute of Control and Computation Engineering, Warsaw University of Technology, ul. Nowowiejska 15/19, 00-665 Warsaw, Poland

autor

Stefańczyk M.

• Institute of Control and Computation Engineering, Warsaw University of Technology, ul. Nowowiejska 15/19, 00-665 Warsaw, Poland

autor

Kasprzak W.

• Institute of Control and Computation Engineering, Warsaw University of Technology, ul. Nowowiejska 15/19, 00-665 Warsaw, Poland

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Uwagi

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę.