首页|Liborg: a lidar-based Robot for Efficient 3D Mapping
Liborg: a lidar-based Robot for Efficient 3D Mapping
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NETL
Spie-Int Soc Optical Engineering
In this work we present Liborg， a spatial mapping and localization system that is able to acquire 3D models on the fly 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。
3D mappingICPlidarmulti-resolutionoctree
Michiel Vlaminck、Hiep Luong、Wilfried Philips
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Image Processing and Interpretation (IPI), Ghent University, imec, Ghent, Belgium
Conference on applications of digital image processing XL
NETL
Spie-Int Soc Optical Engineering
