19 September 2017 Liborg: a lidar-based robot for efficient 3D mapping
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Abstract
In this work we present Liborg, a spatial mapping and localization system that is able to acquire 3D models on the y using data originated from lidar sensors. The novelty of this work is in the highly efficient way we deal with the tremendous amount of data to guarantee fast execution times while preserving sufficiently high accuracy. The proposed solution is based on a multi-resolution technique based on octrees. The paper discusses and evaluates the main benefits of our approach including its efficiency regarding building and updating the map and its compactness regarding compressing the map. In addition, the paper presents a working prototype consisting of a robot equipped with a Velodyne Lidar Puck (VLP-16) and controlled by a Raspberry Pi serving as an independent acquisition platform.
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Michiel Vlaminck, Michiel Vlaminck, Hiep Luong, Hiep Luong, Wilfried Philips, Wilfried Philips, } "Liborg: a lidar-based robot for efficient 3D mapping", Proc. SPIE 10396, Applications of Digital Image Processing XL, 103961G (19 September 2017); doi: 10.1117/12.2272145; https://doi.org/10.1117/12.2272145
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