A Coarse and Relevant 3D Representation for Fast and Lightweight RGB-D Mapping

Bruce Canovas, Michele Rombaut, Amaury Negre, Serge Olympieff, Denis Pellerin

2019

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.

Paper Citation

in Harvard Style

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 (VISIGRAPP 2019) - Volume 5: VISAPP; ISBN 978-989-758-354-4, SciTePress, pages 824-831. DOI: 10.5220/0007381708240831

in Bibtex Style

@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 (VISIGRAPP 2019) - Volume 5: VISAPP},
year={2019},
pages={824-831},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007381708240831},
isbn={978-989-758-354-4},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2019) - 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
PB - SciTePress