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Infinite, Sparse 3D Modelling Volumes

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Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2016)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 693))

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Abstract

Modern research in mobile robotics proposes to combine localization and perception in order to recognize previously visited locations and thus to improve localization as well as the object recognition processes recursively. A crucial issue is to perform updates of the scene geometry when novel observations become available. The reason is that a practical application often requires a system to model large 3D environments at high resolution which exceeds the storage of the local memory. The underlying work presents an optimized volume data structure for infinite 3D environments which facilitates (i) successive world model updates without the need to recompute the full dataset, (ii) very fast in-memory data access scheme enabling the integration of high resolution 3D sensors in real-time, (iii) efficient level-of-detail for visualization and coarse geometry updates. The technique is finally demonstrated on real world application scenarios which underpin the feasibility of the research outcomes.

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Author information

Authors and Affiliations

  1. Department of Information Processing for Optical Systems, German Aerospace Center (DLR), Institute of Optical Sensor Systems, Berlin, Germany

    Eugen Funk & Anko Börner

Authors
  1. Eugen Funk
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  2. Anko Börner
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Corresponding author

Correspondence to Eugen Funk .

Editor information

Editors and Affiliations

  1. Escola Superior de Tecnologia do IPS, SetĂşbal, Portugal

    José Braz

  2. MiraLab, University of Geneva, Carouge, Switzerland

    Nadia Magnenat-Thalmann

  3. LISA - ISTIA, University of Angers, Angers, France

    Paul Richard

  4. Department of Computer Science and Electrical Engineering, Jacobs University, Bremen, Germany

    Lars Linsen

  5. University of Groningen, Groningen, The Netherlands

    Alexandru Telea

  6. UniversitĂ  di Catania, Catania, Italy

    Sebastiano Battiato

  7. Research Innovation Center, Canon U.S.A. Inc., San Jose, California, USA

    Francisco Imai

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Funk, E., Börner, A. (2017). Infinite, Sparse 3D Modelling Volumes. In: Braz, J., et al. Computer Vision, Imaging and Computer Graphics Theory and Applications. VISIGRAPP 2016. Communications in Computer and Information Science, vol 693. Springer, Cham. https://doi.org/10.1007/978-3-319-64870-5_29

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  • DOI: https://doi.org/10.1007/978-3-319-64870-5_29

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-64869-9

  • Online ISBN: 978-3-319-64870-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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