Multi-volume mapping and tracking for real-time RGB-D sensing

Lingni Ma; Egor Bondarev; Peter H. N. de With

doi:10.1117/12.2083350

16 March 2015 Multi-volume mapping and tracking for real-time RGB-D sensing

Lingni Ma, Egor Bondarev, Peter H. N. de With

Proceedings Volume 9399, Image Processing: Algorithms and Systems XIII; 939918 (2015) https://doi.org/10.1117/12.2083350
Event: SPIE/IS&T Electronic Imaging, 2015, San Francisco, California, United States

Abstract

In recent years, many research has been devoted to real-time dense mapping and tracking techniques due to the availability of low-cost RGB-D cameras. In this paper, we present a novel multi-volume mapping and tracking algorithm to generate photo-realistic mapping while maintaining accurate and robust camera tracking. The algorithm deploys one small volume of high voxel resolution to obtain detailed maps of near-field objects, while utilizes another big volume of low voxel resolution to increase robustness of tracking by including far-field scenes. The experimental results show that our multivolume processing scheme achieves an objective quality gain of 2 dB in PSNR and 0.2 in SSIM. Our approach is capable of real-time sensing with approximately 30 fps and can be implemented on a modern GPU.

Citation Download Citation

Lingni Ma, Egor Bondarev, and Peter H. N. de With "Multi-volume mapping and tracking for real-time RGB-D sensing", Proc. SPIE 9399, Image Processing: Algorithms and Systems XIII, 939918 (16 March 2015); https://doi.org/10.1117/12.2083350

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