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)

    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 languageEnglish
    Pages (from-to)301-308
    Number of pages8
    JournalAdvanced Robotics
    Volume27
    Issue number4
    DOIs
    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:
    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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