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Infinite 3D Modelling Volumes

Funk, Eugen and Börner, Anko (2016) Infinite 3D Modelling Volumes. In: VISAPP International Workshop on Robotic Perception. VISAPP, International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications., 26-29 02.2016, Rom.

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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.

Item URL in elib:https://elib.dlr.de/100370/
Document Type:Conference or Workshop Item (Speech)
Title:Infinite 3D Modelling Volumes
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Funk, EugenOSIOSUNSPECIFIED
Börner, AnkoOSIOSUNSPECIFIED
Date:1 March 2016
Journal or Publication Title:VISAPP International Workshop on Robotic Perception
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Status:Accepted
Keywords:3d modelling, 3d fusion
Event Title:VISAPP, International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications.
Event Location:Rom
Event Type:international Conference
Event Dates:26-29 02.2016
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Terrestrial Vehicles (old)
DLR - Research area:Transport
DLR - Program:V BF - Bodengebundene Fahrzeuge
DLR - Research theme (Project):V - Fahrzeugintelligenz (old), R - Robotische Exploration (old)
Location: Berlin-Adlershof
Institutes and Institutions:Institute of Optical Sensor Systems > Information Processing for Optical Systems
Deposited By: Funk, Eugen
Deposited On:07 Dec 2015 07:08
Last Modified:09 Feb 2017 19:21

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