Hierarchies of octrees for efficient 3d mapping
In this paper, we present a novel multi-resolution approach to efficiently mapping 3D
environments. Our representation 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 manipulation
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 …
environments. Our representation 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 manipulation
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 …
[PDF][PDF] Hierarchies of Octrees for Efficient 3D Mapping
KMWDH Dirk, HRBRC Stachniss, KKW Burgard - academia.edu
In this paper, we present a novel multi-resolution approach to efficiently mapping 3D
environments. Our representation 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 manipulation
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 …
environments. Our representation 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 manipulation
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 …
Showing the best results for this search. See all results