Access the full text.
Sign up today, get DeepDyve free for 14 days.
Daniel Maier, A. Hornung, Maren Bennewitz (2012)
Real-time navigation in 3D environments based on depth camera data2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)
M. Ciocarlie, Kaijen Hsiao, E. Jones, Sachin Chitta, R. Rusu, I. Sucan (2010)
Towards Reliable Grasping and Manipulation in Household Environments
T. Weise, Thomas Wismer, B. Leibe, L. Gool (2009)
In-hand scanning with online loop closure2009 IEEE 12th International Conference on Computer Vision Workshops, ICCV Workshops
Jörg Müller, Norman Kohler, Wolfram Burgard (2011)
Autonomous miniature blimp navigation with online motion planning and re-planning2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Christoph Hertzberg, R. Wagner, Oliver Birbach, Tobias Hammer, U. Frese (2011)
Experiences in building a visual SLAM system from open source components2011 IEEE International Conference on Robotics and Automation
Dave Cole, P. Newman (2006)
Using laser range data for 3D SLAM in outdoor environmentsProceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.
Lionel Heng, Lorenz Meier, Petri Tanskanen, F. Fraundorfer, M. Pollefeys (2011)
Autonomous obstacle avoidance and maneuvering on a vision-guided MAV using on-board processing2011 IEEE International Conference on Robotics and Automation
Todor Stoyanov, Martin Magnusson, Henrik Andreasson, A. Lilienthal (2010)
Path planning in 3D environments using the Normal Distributions Transform2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
Jens-Steffen Gutmann, Masaki Fukuchi, M. Fujita (2008)
3D Perception and Environment Map Generation for Humanoid Robot NavigationThe International Journal of Robotics Research, 27
Dieter Sibley, Christopher Mei, I. Reid, P. Newman (2009)
Adaptive relative bundle adjustment, 05
Julian Mason, Susanna Ricco, Ronald Parr (2011)
Textured occupancy grids for monocular localization without features2011 IEEE International Conference on Robotics and Automation
Mike Smith, Ian Baldwin, W. Churchill, Rohan Paul, P. Newman (2009)
The New College Vision and Laser Data SetThe International Journal of Robotics Research, 28
J. Fournier, B. Ricard, D. Laurendeau (2007)
Mapping and Exploration of Complex Environments Using Persistent 3D ModelFourth Canadian Conference on Computer and Robot Vision (CRV '07)
Kai Wurm, Daniel Hennes, D. Holz, R. Rusu, C. Stachniss, K. Konolige, Wolfram Burgard (2011)
Hierarchies of octrees for efficient 3D mapping2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
M. Yguel, O. Aycard, C. Laugier (2007)
Update Policy of Dense Maps: Efficient Algorithms and Sparse Representation
A. Hornung, Kai Wurm, Maren Bennewitz (2010)
Humanoid robot localization in complex indoor environments2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
H. Surmann, A. Nüchter, J. Hertzberg (2003)
An autonomous mobile robot with a 3D laser range finder for 3D exploration and digitalization of indoor environmentsRobotics Auton. Syst., 45
H Hoppe, T DeRose, T Duchamp, J Mcdonald, W Stuetzle (1992)
Surface reconstruction from unorganized pointsSIGGRAPH Computer Graphics, 26
Hugues Hoppe, T. DeRose, T. Duchamp, J. McDonald, W. Stuetzle (1992)
Surface reconstruction from unorganized pointsProceedings of the 19th annual conference on Computer graphics and interactive techniques
S. Laine, Tero Karras (2010)
Efficient Sparse Voxel OctreesIEEE Transactions on Visualization and Computer Graphics, 17
D. Girardeau-Montauta, Michel Rouxa, Raphaël Marcb, Guillaume Thibaultb (2005)
CHANGE DETECTION ON POINTS CLOUD DATA ACQUIRED W ITH A GROUND LASER SCANNER
M. Yguel, Christopher Keat, Christophe Braillon, C. Laugier, O. Aycard (2007)
Dense Mapping for Range Sensors: Efficient Algorithms and Sparse Representations, 03
M. Botsch, Andreas Wiratanaya, L. Kobbelt (2002)
Efficient High Quality Rendering of Point Sampled Geometry
J. Elseberg, D. Borrmann, A. Nüchter (2011)
Efficient processing of large 3D point clouds2011 XXIII International Symposium on Information, Communication and Automation Technologies
A. Kelly, A. Stentz, O. Amidi, Mike Bode, David Bradley, A. Diaz-Calderon, Michael Happold, H. Herman, R. Mandelbaum, T. Pilarski, P. Rander, S. Thayer, Nick Vallidis, Randy Warner (2006)
Toward Reliable Off Road Autonomous Vehicles Operating in Challenging EnvironmentsThe International Journal of Robotics Research, 25
J. Amanatides, Andrew Woo (1987)
A Fast Voxel Traversal Algorithm for Ray Tracing
G. Kraetzschmar, Guillem Gassull, K. Uhl (2004)
Probabilistic quadtrees for variable-resolution mapping of large environmentsIFAC Proceedings Volumes, 37
Martin Magnusson, A. Lilienthal, T. Duckett (2007)
Scan registration for autonomous mining vehicles using 3D‐NDTJournal of Field Robotics, 24
Donald Meagher (1982)
Geometric modeling using octree encodingComput. Graph. Image Process., 19
K. Pathak, A. Birk, J. Poppinga, S. Schwertfeger (2007)
3D forward sensor modeling and application to occupancy grid based sensor fusion2007 IEEE/RSJ International Conference on Intelligent Robots and Systems
A frontier-void-based approach for autonomous exploration
P. Payeur, P. Hébert, D. Laurendeau, C. Gosselin (1997)
Probabilistic octree modeling of a 3D dynamic environmentProceedings of International Conference on Robotics and Automation, 2
Robbie Shade, P. Newman (2011)
Choosing where to go: Complete 3D exploration with stereo2011 IEEE International Conference on Robotics and Automation
Ruwen Schnabel, Reinhard Klein (2006)
Octree-based Point-Cloud Compression
Ivan Dryanovski, William Morris, Jizhong Xiao (2010)
Multi-volume occupancy grids: An efficient probabilistic 3D mapping model for micro aerial vehicles2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
Martin Habbecke, L. Kobbelt (2007)
A Surface-Growing Approach to Multi-View Stereo Reconstruction2007 IEEE Conference on Computer Vision and Pattern Recognition
J. Wilhelms, A. Gelder (1992)
Octrees for faster isosurface generationACM Trans. Graph., 11
E Einhorn, C Schröter, HM Groß (2011)
Attention-driven monocular scene reconstruction for obstacle detection, robot navigation and map buildingRobotics & Autonomous Systems, 59
R. Reulke, U. Knauer (2005)
Remote Sensing and Spatial Information Sciences
B. Douillard, J. Underwood, N. Melkumyan, Surya Singh, Shrihari Vasudevan, C. Brunner, Alastair Quadros (2010)
Hybrid elevation maps: 3D surface models for segmentation2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
Yuval Roth, R. Jain (1989)
Building an environment model using depth informationComputer, 22
Jürgen Sturm, Nikolas Engelhard, F. Endres, Wolfram Burgard, D. Cremers (2012)
A benchmark for the evaluation of RGB-D SLAM systems2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
Hans Moravec (1996)
Robot spatial perception by stereoscopic vision and 3D evidence grids
Richard Newcombe, S. Izadi, Otmar Hilliges, D. Molyneaux, David Kim, A. Davison, Pushmeet Kohli, J. Shotton, Steve Hodges, A. Fitzgibbon (2011)
KinectFusion: Real-time dense surface mapping and tracking2011 10th IEEE International Symposium on Mixed and Augmented Reality
B. Yamauchi (1997)
A frontier-based approach for autonomous explorationProceedings 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation CIRA'97. 'Towards New Computational Principles for Robotics and Automation'
J. Kammerl, Nico Blodow, R. Rusu, Suat Gedikli, M. Beetz, E. Steinbach (2012)
Real-time compression of point cloud streams2012 IEEE International Conference on Robotics and Automation
Autonomous Robots manuscript No. (will be inserted by the editor) 3D Mapping with Multi-Resolution Occupied Voxel Lists
F. Endres, Jürgen Hess, Nikolas Engelhard, Jürgen Sturm, D. Cremers, Wolfram Burgard (2012)
An evaluation of the RGB-D SLAM system2012 IEEE International Conference on Robotics and Automation
M. Hebert, C. Caillas, E. Krotkov, In-So Kweon, T. Kanade (1989)
Terrain mapping for a roving planetary explorerProceedings, 1989 International Conference on Robotics and Automation
J Ryde, H Hu (2010)
3D mapping with multi-resolution occupied voxel listsAutonomous Robots, 28
(2010)
Computer graphics and image processing
E Einhorn, Ch Schröter, H. Gross
Author's Personal Copy Robotics and Autonomous Systems Attention-driven Monocular Scene Reconstruction for Obstacle Detection, Robot Navigation and Map Building
P. Pfaff, Rudolph Triebel, C. Stachniss, Pierre Lamon, Wolfram Burgard, R. Siegwart (2007)
Towards Mapping of CitiesProceedings 2007 IEEE International Conference on Robotics and Automation
Michael Krainin, Peter Henry, Xiaofeng Ren, D. Fox (2011)
Manipulator and object tracking for in-hand 3D object modelingThe International Journal of Robotics Research, 30
R. Hadsell, J. Bagnell, Daniel Huber, M. Hebert (2009)
Accurate rough terrain estimation with space-carving kernels, 05
C. Dornhege, Alexander Kleiner (2011)
A frontier-void-based approach for autonomous exploration in 3d2011 IEEE International Symposium on Safety, Security, and Rescue Robotics
A. Nüchter, K. Lingemann, J. Hertzberg, H. Surmann (2007)
6D SLAM—3D mapping outdoor environmentsJournal of Field Robotics, 24
Hans Moravec, A. Elfes (1985)
High resolution maps from wide angle sonarProceedings. 1985 IEEE International Conference on Robotics and Automation, 2
N. Fairfield, G. Kantor, David Wettergreen (2007)
Real‐Time SLAM with Octree Evidence Grids for Exploration in Underwater TunnelsJournal of Field Robotics, 24
Stefan Oßwald, A. Hornung, Maren Bennewitz (2012)
Improved proposals for highly accurate localization using range and vision data2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
Rudolph Triebel, P. Pfaff, Wolfram Burgard (2006)
Multi-Level Surface Maps for Outdoor Terrain Mapping and Loop Closing2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
A Nüchter, K Lingemann, J Hertzberg, H Surmann (2007)
6D SLAM-3D mapping outdoor environments: Research articlesJournal of Field Robotics, 24
Nico Blodow, L. Goron, Zoltán-Csaba Márton, Dejan Pangercic, T. Rühr, Moritz Tenorth, M. Beetz (2011)
Autonomous semantic mapping for robots performing everyday manipulation tasks in kitchen environments2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
A. Hornung, Mike Phillips, E. Jones, Maren Bennewitz, M. Likhachev, Sachin Chitta (2012)
Navigation in three-dimensional cluttered environments for mobile manipulation2012 IEEE International Conference on Robotics and Automation
Thomas Whelan, M. Kaess, M. Fallon, H. Johannsson, J. Leonard, J. McDonald (2012)
Kintinuous: Spatially Extended KinectFusion
Kai Wurm, A. Hornung, Maren Bennewitz, C. Stachniss, Wolfram Burgard (2010)
OctoMap : A Probabilistic , Flexible , and Compact 3 D Map Representation for Robotic Systems
Three-dimensional models provide a volumetric representation of space which is important for a variety of robotic applications including flying robots and robots that are equipped with manipulators. In this paper, we present an open-source framework to generate volumetric 3D environment models. Our mapping approach is based on octrees and uses probabilistic occupancy estimation. It explicitly represents not only occupied space, but also free and unknown areas. Furthermore, we propose an octree map compression method that keeps the 3D models compact. Our framework is available as an open-source C++ library and has already been successfully applied in several robotics projects. We present a series of experimental results carried out with real robots and on publicly available real-world datasets. The results demonstrate that our approach is able to update the representation efficiently and models the data consistently while keeping the memory requirement at a minimum.
Autonomous Robots – Springer Journals
Published: Feb 7, 2013
Read and print from thousands of top scholarly journals.
Already have an account? Log in
Bookmark this article. You can see your Bookmarks on your DeepDyve Library.
To save an article, log in first, or sign up for a DeepDyve account if you don’t already have one.
Copy and paste the desired citation format or use the link below to download a file formatted for EndNote
Access the full text.
Sign up today, get DeepDyve free for 14 days.
All DeepDyve websites use cookies to improve your online experience. They were placed on your computer when you launched this website. You can change your cookie settings through your browser.