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.
Bibliographical noteFunding 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.
- home-service robot
- map building
ASJC Scopus subject areas
- Control and Systems Engineering
- Human-Computer Interaction
- Hardware and Architecture
- Computer Science Applications