Infinite 3D Modelling Volumes

E. Funk, A. Börner

2016

Abstract

Modern research in mobile robotics proposes to combine localization and perception in order to recognize previously visited locations and thus to improve localization as well as the object recognition processes recursively. A crucial issue is to perform updates of the scene geometry when novel observations become available. The reason is that a practical application often requires a system to model large 3D environments at high resolution which exceeds the storage of the local memory. The underlying work presents an optimized volume data structure for infinite 3D environments which facilitates i) successive world model updates without the need to recompute the full dataset, ii) very fast in-memory data access scheme enabling the integration of high resolution 3D sensors in real-time, iii) efficient level-of-detail for visualization and coarse geometry updates. The technique is finally demonstrated on real world application scenarios which underpin the feasibility of the research outcomes.

Paper Citation

in Harvard Style

Funk E. and Börner A. (2016). Infinite 3D Modelling Volumes . In Proceedings of the 11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2016) ISBN 978-989-758-175-5, pages 246-253. DOI: 10.5220/0005722002460253

in Bibtex Style

@conference{visapp16,
author={E. Funk and A. Börner},
title={Infinite 3D Modelling Volumes},
booktitle={Proceedings of the 11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2016)},
year={2016},
pages={246-253},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005722002460253},
isbn={978-989-758-175-5},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2016)
TI - Infinite 3D Modelling Volumes
SN - 978-989-758-175-5
AU - Funk E.
AU - Börner A.
PY - 2016
SP - 246
EP - 253
DO - 10.5220/0005722002460253