@inproceedings{32dfb36e98ae44bd9a39b51fe35b731b,
title = "Adaptive-Resolution Octree-Based Volumetric SLAM",
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.",
keywords = "3D Reconstruction, Mapping, SLAM",
author = "Emanuele Vespa and Nils Funk and Kelly, \{Paul H.J.\} and Stefan Leutenegger",
note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 7th International Conference on 3D Vision, 3DV 2019 ; Conference date: 15-09-2019 Through 18-09-2019",
year = "2019",
month = sep,
doi = "10.1109/3DV.2019.00077",
language = "English",
series = "Proceedings - 2019 International Conference on 3D Vision, 3DV 2019",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "654--662",
booktitle = "Proceedings - 2019 International Conference on 3D Vision, 3DV 2019",
}