Memory-efficient real-time map building using octree of planes and points
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Jo, Yonghyun | - |
dc.contributor.author | Jang, Hanyoung | - |
dc.contributor.author | Kim, Yeon-Ho | - |
dc.contributor.author | Cho, Joon-Kee | - |
dc.contributor.author | Moradi, Hadi | - |
dc.contributor.author | Han, JungHyun | - |
dc.date.accessioned | 2021-09-06T03:43:27Z | - |
dc.date.available | 2021-09-06T03:43:27Z | - |
dc.date.created | 2021-06-14 | - |
dc.date.issued | 2013-03-01 | - |
dc.identifier.issn | 0169-1864 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/103775 | - |
dc.description.abstract | 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. | - |
dc.language | English | - |
dc.language.iso | en | - |
dc.publisher | TAYLOR & FRANCIS LTD | - |
dc.subject | MANIPULATION | - |
dc.title | Memory-efficient real-time map building using octree of planes and points | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Han, JungHyun | - |
dc.identifier.doi | 10.1080/01691864.2013.755248 | - |
dc.identifier.scopusid | 2-s2.0-84876192479 | - |
dc.identifier.wosid | 000315715100006 | - |
dc.identifier.bibliographicCitation | ADVANCED ROBOTICS, v.27, no.4, pp.301 - 308 | - |
dc.relation.isPartOf | ADVANCED ROBOTICS | - |
dc.citation.title | ADVANCED ROBOTICS | - |
dc.citation.volume | 27 | - |
dc.citation.number | 4 | - |
dc.citation.startPage | 301 | - |
dc.citation.endPage | 308 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Robotics | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.subject.keywordPlus | MANIPULATION | - |
dc.subject.keywordAuthor | home-service robot | - |
dc.subject.keywordAuthor | map building | - |
dc.subject.keywordAuthor | octree | - |
dc.subject.keywordAuthor | GPU | - |
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