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

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


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.
Author Artur Wilkowski (FGC / CGGA) - [Industrial Research Institute for Automation and Measurements (PIAP)]
Artur Wilkowski,,
- Chair of Geodesy and Geodetic Astronomy
- Państwowy Instytut Automatyki Przemysłowej
, Tomasz Michał Kornuta (FEIT / AK)
Tomasz Michał Kornuta,,
- The Institute of Control and Computation Engineering
, Włodzimierz Kasprzak (FEIT / AK)
Włodzimierz Kasprzak,,
- The Institute of Control and Computation Engineering
, Maciej Stefańczyk (FEIT / AK)
Maciej Stefańczyk,,
- The Institute of Control and Computation Engineering
Journal seriesInternational Journal of Applied Mathematics & Computer Science, ISSN 1641-876X
Issue year2016
Publication size in sheets1.15
Keywords in EnglishRGB-D, V-SLAM, surfel map, frustum culling, octree
ASJC Classification1701 Computer Science (miscellaneous); 2201 Engineering (miscellaneous); 2604 Applied Mathematics
URL http://www.degruyter.com/dg/viewarticle.fullcontentlink:pdfeventlink/$002fj$002famcs.2016.26.issue-1$002famcs-2016-0007$002famcs-2016-0007.pdf/amcs-2016-0007.pdf?t:ac=j$002famcs.2016.26.issue-1$002famcs-2016-0007$002famcs-2016-0007.xml
ProjectRobREx: 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
WEiTI Projects financed by NCRD [Projekty finansowane przez NCBiR (NCBR)]
Languageen angielski
Wilkowski i in AMCS 14-amcs-rgbd.pdf 3.82 MB
Score (nominal)25
Score sourcejournalList
ScoreMinisterial score = 25.0, 04-02-2020, ArticleFromJournal
Ministerial score (2013-2016) = 25.0, 04-02-2020, ArticleFromJournal
Publication indicators Scopus Citations = 11; WoS Citations = 6; GS Citations = 17.0; Scopus SNIP (Source Normalised Impact per Paper): 2016 = 1.377; WoS Impact Factor: 2016 = 1.42 (2) - 2016=1.597 (5)
Citation count*17 (2020-01-06)
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* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or Perish system.
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