Integrating Data- and Model-Driven Analysis of RGB-D Images

Kasprzak, Włodzimierz; Pietruch, Rafal; Bojar, Konrad; Wilkowski, Artur; Kornuta, Tomasz

doi:10.1007/978-3-319-11310-4_52

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2016

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Cited by 2 publications

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“…For example, simple geometric (occupancy) maps enable robots to avoid obstacles and collisions, whereas semantic maps allow reasoning, planning and navigation between different places (Martínez Mozos et al, 2007). A semantic map combines a geometric map of the environment with objects recognized in the image (Kasprzak, 2010;Kasprzak et al, 2015).…”

Section: Introductionmentioning

confidence: 99%

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

Wilkowski

Kornuta

Stefańczyk

et al. 2016

International Journal of Applied Mathematics and Computer Science

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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.

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Section: Introductionmentioning

confidence: 99%