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
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
收藏
页码:301 / 308
页数:8
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