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 journalArticlepeer-review

4 Citations (Scopus)


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 languageEnglish
Pages (from-to)301-308
Number of pages8
JournalAdvanced Robotics
Issue number4
Publication statusPublished - 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 2013 Elsevier B.V., All rights reserved.


  • 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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