TY - GEN
T1 - Real-time height map fusion using differentiable rendering
AU - Zienkiewicz, Jacek
AU - Davison, Andrew
AU - Leutenegger, Stefan
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/11/28
Y1 - 2016/11/28
N2 - We present a robust real-time method which performs dense reconstruction of high quality height maps from monocular video. By representing the height map as a triangular mesh, and using efficient differentiable rendering approach, our method enables rigorous incremental probabilistic fusion of standard locally estimated depth and colour into an immediately usable dense model. We present results for the application of free space and obstacle mapping by a lowcost robot, showing that detailed maps suitable for autonomous navigation can be obtained using only a single forward-looking camera.
AB - We present a robust real-time method which performs dense reconstruction of high quality height maps from monocular video. By representing the height map as a triangular mesh, and using efficient differentiable rendering approach, our method enables rigorous incremental probabilistic fusion of standard locally estimated depth and colour into an immediately usable dense model. We present results for the application of free space and obstacle mapping by a lowcost robot, showing that detailed maps suitable for autonomous navigation can be obtained using only a single forward-looking camera.
UR - http://www.scopus.com/inward/record.url?scp=85006415330&partnerID=8YFLogxK
U2 - 10.1109/IROS.2016.7759630
DO - 10.1109/IROS.2016.7759630
M3 - Conference contribution
AN - SCOPUS:85006415330
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4280
EP - 4287
BT - IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Y2 - 9 October 2016 through 14 October 2016
ER -