Memory-efficient real-time map building using octree of planes and points

• Published in: Advanced robotics Vol. 27; no. 4; pp. 301 - 308
• Main Authors: Jo, Yonghyun, Jang, Hanyoung, Kim, Yeon-Ho, Cho, Joon-Kee, Moradi, Hadi, Han, JungHyun
• Format: Journal Article
• Language: English
• Published: Routledge 01.03.2013
• Subjects: GPU; home-service robot; map building; octree

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...