Memory-efficient real-time map building using octree of planes and points
- Authors
- Jo, Yonghyun; Jang, Hanyoung; Kim, Yeon-Ho; Cho, Joon-Kee; Moradi, Hadi; Han, JungHyun
- Issue Date
- 1-3월-2013
- Publisher
- TAYLOR & FRANCIS LTD
- Keywords
- home-service robot; map building; octree; GPU
- Citation
- ADVANCED ROBOTICS, v.27, no.4, pp.301 - 308
- Indexed
- SCIE
SCOPUS
- Journal Title
- ADVANCED ROBOTICS
- Volume
- 27
- Number
- 4
- Start Page
- 301
- End Page
- 308
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/103775
- DOI
- 10.1080/01691864.2013.755248
- ISSN
- 0169-1864
- 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.
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Collections - Graduate School > Department of Computer Science and Engineering > 1. Journal Articles
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