A Survey of Voxel Interpolation Methods and an Evaluation of Their Impact on Volumetric Map-Based Visual Odometry

Daniel Ricao Canelhas, Todor Stoyanov, Achim J. Lilienthal

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Scopus citations

Abstract

Voxel volumes are simple to implement and lend themselves to many of the tools and algorithms available for 2D images. However, the additional dimension of voxels may be costly to manage in memory when mapping large spaces at high resolutions. While lowering the resolution and using interpolation is common work-around, in the literature we often find that authors either use trilinear interpolation or nearest neighbors and rarely any of the intermediate options. This paper presents a survey of geometric interpolation methods for voxel-based map representations. In particular we study the truncated signed distance field (TSDF) and the impact of using fewer than 8 samples to perform interpolation within a depth-camera pose tracking and mapping scenario. We find that lowering the number of samples fetched to perform the interpolation results in performance similar to the commonly used trilinear interpolation method, but leads to higher frame-rates. We also report that lower bit-depth generally leads to performance degradation, though not as much as may be expected, with voxels containing as few as 3 bits sometimes resulting in adequate estimation of camera trajectories.

Original languageEnglish
Title of host publication2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages6337-6343
Number of pages7
ISBN (Electronic)9781538630815
DOIs
StatePublished - 10 Sep 2018
Externally publishedYes
Event2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - Brisbane, Australia
Duration: 21 May 201825 May 2018

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Country/TerritoryAustralia
CityBrisbane
Period21/05/1825/05/18

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