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

被引：5

作者：

Jo, Yonghyun ^{[1
]}

Jang, Hanyoung ^{[1
]}

Kim, Yeon-Ho ^{[2
]}

Cho, Joon-Kee ^{[2
]}

Moradi, Hadi ^{[3
]}

Han, JungHyun ^{[1
]}

机构：

[1] Korea Univ, Coll Informat & Commun, Seoul, South Korea

[2] Samsung Elect Co, Samsung Adv Inst Technol, Suwon, South Korea

[3] Univ Tehran, Sch Elect & Comp Engn, Tehran, Iran

来源：

ADVANCED ROBOTICS | 2013年 / 27卷 / 04期

基金：

新加坡国家研究基金会;

关键词：

home-service robot; map building; octree; GPU; MANIPULATION;

D O I：

10.1080/01691864.2013.755248

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

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.

引用

页码：301 / 308

页数：8

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