Memory-efficient real-time map building using octree of planes and points
2013
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.
Keywords:
- Correction
- Source
- Cite
- Save
- Machine Reading By IdeaReader
9
References
1
Citations
NaN
KQI