Imperial College London
Alternate

DrStefanLeutenegger

Faculty of Engineering, Department of Computing

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s.leutenegger Website

 
 
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Location

 

ACE ExtensionSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Vespa:2019:10.1109/3DV.2019.00077,
author = {Vespa, E and Funk, N and Kelly, PHJ and Leutenegger, S},
doi = {10.1109/3DV.2019.00077},
pages = {654--662},
publisher = {IEEE COMPUTER SOC},
title = {Adaptive-resolution octree-based volumetric SLAM},
url = {http://dx.doi.org/10.1109/3DV.2019.00077},
year = {2019}
}
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RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - We introduce a novel volumetric SLAM pipeline for the integration and rendering of depth images at an adaptive level of detail. Our core contribution is a fusion algorithm which dynamically selects the appropriate integration scale based on the effective sensor resolution given the distance from the observed scene, addressing aliasing issues, reconstruction quality, and efficiency simultaneously. We implement our approach using an efficient octree structure which supports multi-resolution rendering allowing for online frame-to-model alignment. Our qualitative and quantitative experiments demonstrate significantly improved reconstruction quality and up to six-fold execution time speed-ups compared to single resolution grids.
AU  - Vespa,E
AU  - Funk,N
AU  - Kelly,PHJ
AU  - Leutenegger,S
DO  - 10.1109/3DV.2019.00077
EP  - 662
PB  - IEEE COMPUTER SOC
PY  - 2019///
SN  - 2378-3826
SP  - 654
TI  - Adaptive-resolution octree-based volumetric SLAM
UR  - http://dx.doi.org/10.1109/3DV.2019.00077
UR  - http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000618059700068&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
UR  - https://ieeexplore.ieee.org/document/8885452
UR  - http://hdl.handle.net/10044/1/90159
ER  -
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