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

Artur Wilkowski; Tomasz Kornuta; Maciej Stefańczyk; Włodzimierz Kasprzak

International Journal of Applied Mathematics and Computer Science (2016)

  • Volume: 26, Issue: 1, page 99-122
  • ISSN: 1641-876X

Abstract

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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.

How to cite

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Artur Wilkowski, et al. "Efficient generation of 3D surfel maps using RGB-D sensors." International Journal of Applied Mathematics and Computer Science 26.1 (2016): 99-122. <http://eudml.org/doc/276558>.

@article{ArturWilkowski2016,
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.},
author = {Artur Wilkowski, Tomasz Kornuta, Maciej Stefańczyk, Włodzimierz Kasprzak},
journal = {International Journal of Applied Mathematics and Computer Science},
keywords = {RGB-D; V-SLAM; surfel map; frustum culling; octree},
language = {eng},
number = {1},
pages = {99-122},
title = {Efficient generation of 3D surfel maps using RGB-D sensors},
url = {http://eudml.org/doc/276558},
volume = {26},
year = {2016},
}

TY - JOUR
AU - Artur Wilkowski
AU - Tomasz Kornuta
AU - Maciej Stefańczyk
AU - Włodzimierz Kasprzak
TI - Efficient generation of 3D surfel maps using RGB-D sensors
JO - International Journal of Applied Mathematics and Computer Science
PY - 2016
VL - 26
IS - 1
SP - 99
EP - 122
AB - 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.
LA - eng
KW - RGB-D; V-SLAM; surfel map; frustum culling; octree
UR - http://eudml.org/doc/276558
ER -

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