<abstract xmlns="http://www.w3.org/1999/xhtml"><p>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.</p></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.

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

Industrial Research Institute for Automation and Measurements, Al. Jerozolimskie 202, 02-486 Warsaw, Poland

Institute of Control and Computation Engineering, Warsaw University of Technology, ul. Nowowiejska 15/19, 00-665 Warsaw, Poland

International Journal of Applied Mathematics and Computer Science

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

{"article-title":"Efficient generation of 3D surfel maps using RGB\u2013D sensors"}

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...

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

Published Online: Mar 31, 2016

Page range: 99 - 122

Received: Nov 13, 2014

DOI: https://doi.org/10.1515/amcs-2016-0007

Keywords
RGB-D, V-SLAM, surfel map, frustum culling, octree

© 2016 Artur Wilkowski et al., published by De Gruyter Open

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

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

Published Online: Mar 31, 2016

Page range: 99 - 122

Received: Nov 13, 2014

DOI: https://doi.org/10.1515/amcs-2016-0007

KeywordsRGB-D, V-SLAM, surfel map, frustum culling, octree

© 2016 Artur Wilkowski et al., published by De Gruyter Open

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Keywords
RGB-D, V-SLAM, surfel map, frustum culling, octree