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Hierarchical voxel block hashing for efficient integration of depth images

Abstract:

Many modern 3D reconstruction methods accumulate information volumetrically using truncated signed distance functions. While this usually imposes a regular grid with fixed voxel size, not all parts of a scene necessarily need to be represented at the same level of detail. For example, a flat table needs less detail than a highly structured keyboard on it. We introduce a novel representation for the volumetric 3D data that uses hash functions rather than trees for accessing individual blocks o...

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Publication status:
Published
Peer review status:
Peer reviewed
Version:
Accepted manuscript

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Publisher copy:
10.1109/LRA.2015.2512958

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Institution:
University of Oxford
Department:
Oxford, MPLS, Engineering Science
More by this author
Institution:
University of Oxford
Department:
Oxford, MPLS, Engineering Science
More by this author
Institution:
University of Oxford
Department:
Oxford, MPLS, Engineering Science
More by this author
Institution:
University of Oxford
Department:
Oxford, MPLS, Engineering Science
Publisher:
Institute of Electrical and Electronics Engineers Publisher's website
Journal:
IEEE Robotics and Automation Letters Journal website
Volume:
1
Issue:
1
Pages:
192-197
Publication date:
2015-12-29
DOI:
EISSN:
2377-3774
URN:
uuid:5ff4d9a0-aa2b-47e9-91f1-0cd662d738c2
Source identifiers:
613926
Local pid:
pubs:613926

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