Title :
Hierarchies of octrees for efficient 3D mapping
Author :
Wurm, Kai M. ; Hennes, Daniel ; Holz, Dirk ; Rusu, Radu B. ; Stachniss, Cyrill ; Konolige, Kurt ; Burgard, Wolfram
Author_Institution :
Dept. of Comput. Sci., Univ. of Freiburg, Freiburg, Germany
Abstract :
In this paper, we present a novel multi-resolution approach to efficiently mapping 3D environments. Our representation models the environment as a hierarchy of probabilistic 3D maps, in which each submap is updated and transformed individually. In addition to the formal description of the approach, we present an implementation for tabletop manipulation tasks and an information-driven exploration algorithm for autonomously building a hierarchical map from sensor data. We evaluate our approach using real-world as well as simulated data. The results demonstrate that our method is able to efficiently represent 3D environments at high levels of detail. Compared to a monolithic approach, our maps can be generated significantly faster while requiring significantly less memory.
Keywords :
computer graphics; image representation; image resolution; robot vision; terrain mapping; 3D mapping; environment representation models; hierarchical map; information-driven exploration algorithm; mapping 3D environments; monolithic approach; multiresolution approach; octrees hierarchies; probabilistic 3D map hierarchy; sensor data; tabletop manipulation tasks; Adaptation models; Computational modeling; Robot sensing systems; Semantics; Solid modeling; Three dimensional displays;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
978-1-61284-454-1
DOI :
10.1109/IROS.2011.6094571