loading
Documents

Research.Publish.Connect.

Paper

Authors: Bruce Canovas ; Michele Rombaut ; Amaury Negre ; Serge Olympieff and Denis Pellerin

Affiliation: Univ. Grenoble Alpes, CNRS, Grenoble INP, GIPSA-lab, 38000 Grenoble, France

ISBN: 978-989-758-354-4

Keyword(s): RGB-D, Dense Reconstruction, Superpixel, Surfel, Fusion, Robotics.

Abstract: In this paper we present a novel lightweight and simple 3D representation for real-time dense 3D mapping of static environments with an RGB-D camera. Our approach builds and updates a low resolution 3D model of an observed scene as an unordered set of new primitives called supersurfels, which can be seen as elliptical planar patches, generated from superpixels segmented RGB-D live measurements. While most of the actual solutions focuse on the accuracy of the reconstructed 3D model, the implemented method is well-adapted to run on robots with reduced/limited computing capacity and memory size, which do not need a highly detailed map of their environment but can settle for an approximate one.

PDF ImageFull Text

Download
CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 35.173.234.237

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Canovas, B.; Rombaut, M.; Negre, A.; Olympieff, S. and Pellerin, D. (2019). A Coarse and Relevant 3D Representation for Fast and Lightweight RGB-D Mapping.In Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 5: VISAPP, ISBN 978-989-758-354-4, pages 824-831. DOI: 10.5220/0007381708240831

@conference{visapp19,
author={Bruce Canovas. and Michele Rombaut. and Amaury Negre. and Serge Olympieff. and Denis Pellerin.},
title={A Coarse and Relevant 3D Representation for Fast and Lightweight RGB-D Mapping},
booktitle={Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 5: VISAPP,},
year={2019},
pages={824-831},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007381708240831},
isbn={978-989-758-354-4},
}

TY - CONF

JO - Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 5: VISAPP,
TI - A Coarse and Relevant 3D Representation for Fast and Lightweight RGB-D Mapping
SN - 978-989-758-354-4
AU - Canovas, B.
AU - Rombaut, M.
AU - Negre, A.
AU - Olympieff, S.
AU - Pellerin, D.
PY - 2019
SP - 824
EP - 831
DO - 10.5220/0007381708240831

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.