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Titel:

RMAP: A Rectangular Cuboid Approximation Framework for 3D Environment Mapping

Dokumenttyp:
Zeitschriftenaufsatz
Autor(en):
Khan, Sheraz; Verginis, Chris; Dometios, Athanasios; Tzafestas, Costas; Wollherr, Dirk; Buss, Martin
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...     »
Stichworte:
3D mapping, Point cloud approximation
Zeitschriftentitel:
Autonomous Robots
Jahr:
2014
Band / Volume:
37
Heft / Issue:
3
Seitenangaben Beitrag:
261-277
Sprache:
en
Publikationsdatum:
28.02.2014
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