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

Department of Computer Science and Engineering

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

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

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