Adaptive-Resolution Octree-Based Volumetric SLAM
- Resource Type
- Conference
- Authors
- Vespa, Emanuele; Funk, Nils; Kelly, Paul H. J.; Leutenegger, Stefan
- Source
- 2019 International Conference on 3D Vision (3DV) 3D Vision (3DV), 2019 International Conference on. :654-662 Sep, 2019
- Subject
- Computing and Processing
Octrees
Simultaneous localization and mapping
Cameras
Pipelines
Rendering (computer graphics)
Indexes
Three-dimensional displays
SLAM
Mapping
3D Reconstruction
- Language
- ISSN
- 2475-7888
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.