DMCA
Hierarchies of Octrees for Efficient 3D Mapping (2011)
| Venue: | In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS ’11 |
| Citations: | 5 - 0 self |
BibTeX
@INPROCEEDINGS{Wurm11hierarchiesof,
author = {Kai M. Wurm and Daniel Hennes and Dirk Holz and Radu B. Rusu and Cyrill Stachniss and Kurt Konolige and Wolfram Burgard},
title = {Hierarchies of Octrees for Efficient 3D Mapping},
booktitle = {In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS ’11},
year = {2011}
}
Share
 |
 |
 |
 |
||
OpenURL
Abstract
Abstract — In this paper, we present a novel multi-resolution approach to efficiently mapping 3D environments. Our repre-sentation models the environment as a hierarchy of probabilistic 3D maps, in which each submap is updated and transformed individually. In addition to the formal description of the approach, we present an implementation for tabletop manip-ulation tasks and an information-driven exploration algorithm for autonomously building a hierarchical map from sensor data. We evaluate our approach using real-world as well as simulated data. The results demonstrate that our method is able to efficiently represent 3D environments at high levels of detail. Compared to a monolithic approach, our maps can be generated significantly faster while requiring significantly less memory. I.
