Memory-efficient real-time map building using octree of planes and points
This paper presents an octree-based map building algorithm for mobile home-service robots. The robot is equipped with a time-of-flight camera, which produces point clouds of the environment surfaces. Given the successive input of point clouds, a 3D map is incrementally computed in real time. The map...
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Published in | Advanced robotics Vol. 27; no. 4; pp. 301 - 308 |
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Main Authors | , , , , , |
Format | Journal Article |
Language | English |
Published |
Routledge
01.03.2013
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Subjects | |
Online Access | Get full text |
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Summary: | This paper presents an octree-based map building algorithm for mobile home-service robots. The robot is equipped with a time-of-flight camera, which produces point clouds of the environment surfaces. Given the successive input of point clouds, a 3D map is incrementally computed in real time. The map is accurate and memory-efficient because the octree nodes containing points on a plane are merged and represented simply by an index to the plane. The real-time performance is achieved largely due to the parallel processing capability of the many-core Graphics Processing Unit used for plane extraction. |
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ISSN: | 0169-1864 1568-5535 |
DOI: | 10.1080/01691864.2013.755248 |