Memory-efficient real-time map building using octree of planes and points

Yonghyun Jo; Hanyoung Jang; Yeon Ho Kim; Joon Kee Cho; Hadi Moradi; Junghyun Han

doi:10.1080/01691864.2013.755248

Memory-efficient real-time map building using octree of planes and points

Yonghyun Jo, Hanyoung Jang, Yeon Ho Kim, Joon Kee Cho, Hadi Moradi, Junghyun Han

Research output: Contribution to journal › Article › peer-review

4 Citations (Scopus)

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.

Original language	English
Pages (from-to)	301-308
Number of pages	8
Journal	Advanced Robotics
Volume	27
Issue number	4
DOIs	https://doi.org/10.1080/01691864.2013.755248
Publication status	Published - 2013 Mar 1

Bibliographical note

Funding Information:
This research was supported by MKE, Korea under ITRC NIPA-2011-(C1090-1121-0008) and the National Research Foundation of Korea (NRF) grant funded by the Korea government (MEST)(No. 2009-0086684).

Copyright:
Copyright 2013 Elsevier B.V., All rights reserved.

Keywords

GPU
home-service robot
map building
octree

ASJC Scopus subject areas

Software
Control and Systems Engineering
Human-Computer Interaction
Hardware and Architecture
Computer Science Applications

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10.1080/01691864.2013.755248

Cite this

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AU - Han, Junghyun

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AB - 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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Memory-efficient real-time map building using octree of planes and points

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

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