Efficient 3D mapping with RGB-D camera based on distance dependent update

Hyunggi Jo, Sungjin Jo, Hae Min Cho, Euntai Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Recently, RGB-D camera has been used widely in indoor SLAM (Simultaneous Localization and Mapping) field. In this paper, we propose an efficient 3D mapping algorithm that considers appearance of dynamic objects. A full 3D mapping system estimates 6-DoF sensor pose and builds 3D voxel grid map simultaneously. In order to build a 3D map, effective method is proposed in terms of computation time. Depending on distance to the object each scan update frequency is varied. By controlling update frequency, we can build a 3D map efficiently. Experiments are carried out with RGB-D sensor and hand-held SLAM results are presented.

Original languageEnglish
Title of host publicationICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings
PublisherIEEE Computer Society
Pages873-875
Number of pages3
ISBN (Electronic)9788993215120
DOIs
Publication statusPublished - 2016 Jan 24
Event16th International Conference on Control, Automation and Systems, ICCAS 2016 - Gyeongju, Korea, Republic of
Duration: 2016 Oct 162016 Oct 19

Publication series

NameInternational Conference on Control, Automation and Systems
Volume0
ISSN (Print)1598-7833

Other

Other16th International Conference on Control, Automation and Systems, ICCAS 2016
CountryKorea, Republic of
CityGyeongju
Period16/10/1616/10/19

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Jo, H., Jo, S., Cho, H. M., & Kim, E. (2016). Efficient 3D mapping with RGB-D camera based on distance dependent update. In ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings (pp. 873-875). [7832417] (International Conference on Control, Automation and Systems; Vol. 0). IEEE Computer Society. https://doi.org/10.1109/ICCAS.2016.7832417