{"title":"基于摄像机信息的八叉树三维可视化映射","authors":"Ben-Li Wang, N. Houshangi","doi":"10.1109/eIT57321.2023.10187225","DOIUrl":null,"url":null,"abstract":"In this paper, an ORB-SLAM algorithm using RGB-D camera collects data for visualization. The collected point cloud data is first processed using a pass-through filter. Statistical filters are used to remove sparse outliers. Thereafter, downsampling is performed using a voxel filter. Increase the sampling amount appropriately according to the actual situation. After mentioned data processing, Octomap is used to visualize the information in Rviz with services provided in Robot Operating System (ROS) platform to build a three-dimensional map. This visualization approach can be applied to preliminary map construction for robot autonomous navigation and 3D modeling of 3D scanner.","PeriodicalId":113717,"journal":{"name":"2023 IEEE International Conference on Electro Information Technology (eIT)","volume":"71 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2023-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Octree 3D Visualization Mapping based on Camera Information\",\"authors\":\"Ben-Li Wang, N. Houshangi\",\"doi\":\"10.1109/eIT57321.2023.10187225\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, an ORB-SLAM algorithm using RGB-D camera collects data for visualization. The collected point cloud data is first processed using a pass-through filter. Statistical filters are used to remove sparse outliers. Thereafter, downsampling is performed using a voxel filter. Increase the sampling amount appropriately according to the actual situation. After mentioned data processing, Octomap is used to visualize the information in Rviz with services provided in Robot Operating System (ROS) platform to build a three-dimensional map. This visualization approach can be applied to preliminary map construction for robot autonomous navigation and 3D modeling of 3D scanner.\",\"PeriodicalId\":113717,\"journal\":{\"name\":\"2023 IEEE International Conference on Electro Information Technology (eIT)\",\"volume\":\"71 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2023-05-18\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2023 IEEE International Conference on Electro Information Technology (eIT)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/eIT57321.2023.10187225\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2023 IEEE International Conference on Electro Information Technology (eIT)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/eIT57321.2023.10187225","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Octree 3D Visualization Mapping based on Camera Information
In this paper, an ORB-SLAM algorithm using RGB-D camera collects data for visualization. The collected point cloud data is first processed using a pass-through filter. Statistical filters are used to remove sparse outliers. Thereafter, downsampling is performed using a voxel filter. Increase the sampling amount appropriately according to the actual situation. After mentioned data processing, Octomap is used to visualize the information in Rviz with services provided in Robot Operating System (ROS) platform to build a three-dimensional map. This visualization approach can be applied to preliminary map construction for robot autonomous navigation and 3D modeling of 3D scanner.
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