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Paper details
Number 1 - March 2016
Volume 26 - 2016
Efficient generation of 3D surfel maps using RGB-D sensors
Artur Wilkowski, Tomasz Kornuta, Maciej Stefańczyk, Włodzimierz Kasprzak
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.
Keywords
RGB-D, V-SLAM, surfel map, frustum culling, octree