基于几何特征体素的城市环境三维映射

2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2011-11-01 DOI:10.1109/URAI.2011.6146025

Inwook Shim, Yungeun Choe, M. Chung

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引用次数: 7

摘要

近年来，在室外三维制图方面取得了很大的进展。然而，在城市环境中，实时三维绘图仍然是一个艰巨的挑战。本文研究了三维激光扫描在城市环境中的实时三维制图问题。为此，我们提出了几何特征体素，它可以在不损失几何属性的情况下有效地表示三维城市结构。为了评估所提出的体素，我们使用奥克兰数据集。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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3D mapping in urban environment using geometric featured voxel

In recent year, much progress has been made in outdoor 3D mapping. However, 3D mapping in real time is still a daunting challenge in urban environment. This paper addresses the problem of 3D mapping from 3D laser scans in urban environments in real time. To do this, we proposed geometric featured voxel which can efficiently represent 3D urban structure without loss of geometric properties. For evaluation of the proposed voxel, we use Oakland dataset.

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2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

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