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Document type:
Zeitschriftenaufsatz 
Author(s):
Khan, S.; Verginis, C.; Dometios, A.; Tzafestas, C.; Wollherr, D.; Buss, M. 
Title:
RMAP: a rectangular cuboid approximation framework for 3D environment mapping 
Abstract:
This paper presents a rectangular cuboid approximation framework (RMAP) for 3D mapping. The goal of RMAP is to provide computational and memory efficient environment representations for 3D robotic mapping using axis aligned rectangular cuboids (RC). This paper focuses on two aspects of the RMAP framework: (i) An occupancy grid approach and (ii) A RC approximation of 3D environments based on point cloud density. The RMAP occupancy grid is based on the Rtree data structure which is composed of a h...    »
 
Keywords:
3D mapping, Point cloud approximation 
Journal title:
Autonomous Robots 
Year:
2014 
Journal volume:
37 
Journal issue:
Pages contribution:
261-277 
Language:
en 
Date of publication:
28.02.2014