Adaptive-Resolution Octree-Based Volumetric SLAM

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...

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Bibliographic Details
Main Authors: Vespa, Emanuele, Funk, Nils, Kelly, Paul H. J., Leutenegger, Stefan
Format: Conference Proceeding
Language:English
Subjects:
3D Reconstruction
Cameras
Indexes
Mapping
Octrees
Pipelines
Rendering (computer graphics)
Simultaneous localization and mapping
SLAM
Three-dimensional displays
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Description
Summary: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.
ISSN:2475-7888
DOI:10.1109/3DV.2019.00077