Adaptive-Resolution Octree-Based Volumetric SLAM

Emanuele Vespa, Nils Funk, Paul H.J. Kelly, Stefan Leutenegger

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

11 Scopus citations

Abstract

We introduce a novel volumetric SLAM pipeline for the integration and rendering of depth images at an adaptive level of detail. Our core contribution is a fusion algorithm which dynamically selects the appropriate integration scale based on the effective sensor resolution given the distance from the observed scene, addressing aliasing issues, reconstruction quality, and efficiency simultaneously. We implement our approach using an efficient octree structure which supports multi-resolution rendering allowing for online frame-to-model alignment. Our qualitative and quantitative experiments demonstrate significantly improved reconstruction quality and up to six-fold execution time speed-ups compared to single resolution grids.

Original languageEnglish
Title of host publicationProceedings - 2019 International Conference on 3D Vision, 3DV 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages654-662
Number of pages9
ISBN (Electronic)9781728131313
DOIs
StatePublished - Sep 2019
Externally publishedYes
Event7th International Conference on 3D Vision, 3DV 2019 - Quebec, Canada
Duration: 15 Sep 201918 Sep 2019

Publication series

NameProceedings - 2019 International Conference on 3D Vision, 3DV 2019

Conference

Conference7th International Conference on 3D Vision, 3DV 2019
Country/TerritoryCanada
CityQuebec
Period15/09/1918/09/19

Keywords

  • 3D Reconstruction
  • Mapping
  • SLAM

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