Efficient Octree-Based Volumetric SLAM Supporting Signed-Distance and Occupancy Mapping

SURF-Based SLAM Scheme using Octree Occupancy Grid for Autonomous Landing on Asteroids

As space agencies are currently looking at Near Earth Asteroids as a next step on their exploration roadmap, high precision autonomous landing control schemes using passive sensors (i.e. cameras) will be required for upcoming missions. Attempting to address this need, the Guidance Navigation and Control (GNC) system presented here is an online visual navigation scheme that relies on only one ca...

Occupancy grid based graph-SLAM using the distance transform, SURF features and SGD

Direct Camera Pose Tracking and Mapping With Signed Distance Functions

In many areas, the ability to create accurate 3D models is of great interest, for example, in computer vision, robotics, architecture, and augmented reality. In this paper we show how a textured indoor environment can be reconstructed in 3D using an RGB-D camera. Real-time performance can be achieved using a GPU. We show how the camera pose can be estimated directly using the geometry that we r...

Binary Volumetric Octree Representation for Image-Based Rendering

A Binary Volumetric Octree (BVO) is a volume array with binary opacity voxels, represented as octree. The BVO structure allows to stores not the complete object volume, but only the surface voxels. The new approach to Image Based Rendering (IBR), using this representation, makes it possible to use single data structure for fast, occlusion-compatible hierarchical warping, splattingbased renderin...

Laser-based Slam with Efficient Occupancy Likelihood Map Learning for Dynamic Indoor Scenes

Location-Based Services (LBS) have attracted growing attention in recent years, especially in indoor environments. The fundamental technique of LBS is the map building for unknown environments, this technique also named as simultaneous localization and mapping (SLAM) in robotic society. In this paper, we propose a novel approach for SLAM in dynamic indoor scenes based on a 2D laser scanner moun...