Creator:

Wilkowski, Artur ; Kornuta, Tomasz ; Stefańczyk, Maciej ; Kasprzak, Włodzimierz

Contributor:

Korbicz, Józef - red. ; Uciński, Dariusz - red.

Title:

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

Group publication title:

AMCS, Volume 26 (2016)

Subject and Keywords:

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

Abstract:

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.

Publisher:

Zielona Góra: Uniwersytet Zielonogórski

Resource Type:

artykuł

DOI:

10.1515/amcs-2016-0007

Pages:

99-122

Source:

AMCS, volume 26, number 1 (2016) ; click here to follow the link

Language:

eng

Rights:

Biblioteka Uniwersytetu Zielonogórskiego