Efficient generation of 3D surfel maps using RGB--D sensors
Artur Wilkowski , Tomasz Michał Kornuta , Włodzimierz Kasprzak , Maciej Stefańczyk
AbstractThe 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.
|Journal series||International Journal of Applied Mathematics & Computer Science, ISSN 1641-876X|
|Publication size in sheets||1.15|
|Keywords in English||RGB-D, V-SLAM, surfel map, frustum culling, octree|
|project||RobREx: Autonomy for rescue and exploration robots. Project leader: Zieliński Cezary,
, Phone: 5102, start date 12-12-2012, end date 30-11-2015, 513/1031, Completed
|Score|| = 25.0, 28-11-2017, ArticleFromJournal|
= 25.0, 28-11-2017, ArticleFromJournal
|Publication indicators||: 2016 = 1.42 (2) - 2016=1.597 (5)|
|Citation count*||8 (2018-02-20)|
* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or Perish system.