NDLI: Geometric-featured voxel maps for 3D mapping in urban environments

Content Provider	IEEE Xplore Digital Library
Author	Yungeun Choe Inwook Shim Myung Jin Chung
Copyright Year	2011
Description	Author affiliation: Korea Advanced Institute of Science and Technology, Robotics Research Lab., Electrical Engineering Bldg., Daejeon, Republic of Korea (Yungeun Choe; Inwook Shim; Myung Jin Chung)
Abstract	3D maps including urban structures and terrain information facilitate urban searches for robots operating in rescue scenarios. However it suffers from large memory requirements and computation time to deal with point clouds collected by range sensors. It is problematic for operating rescue robots in real time. To cope with the difficulties we propose a novel 3D mapping algorithm based on voxels. The proposed geometric-featured voxel is designed to store geometric features compactly. Geometric-featured voxel maps provide compact and plentiful information about urban environments for understanding the situation of robots' surroundings. To do so we improve geometric features to extract the principal characteristics of urban structures by using local point cloud statistics. For a human operator, we also introduce a visualization method to represent the proposed voxel maps by coloring voxel's faces and edges. In the experimental result, we analyze the proposed feature performance, memory consumption and computation time in order to evaluate an ability of the proposed map.
Starting Page	110
Ending Page	115
File Size	3042678
Page Count	6
File Format	PDF
ISBN	9781612847702
e-ISBN	9781612847696
DOI	10.1109/SSRR.2011.6106760
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-11-01
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Solid modeling Urban Environments Robot kinematics Computational modeling Roads Range Sensor 3D Mapping Voxel Robot sensing systems Three dimensional displays Rescue Robotics Geometric Feature
Content Type	Text
Resource Type	Article

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