Dense 3D Mapping Using Volume Registration

Luke Lincoln; Ruben Gonzalez

Nature of Computation and Communication. Second International Conference, ICTCC 2016, Rach Gia, Vietnam, March 17-18, 2016, Revised Selected Papers

Research Article

Dense 3D Mapping Using Volume Registration

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@INPROCEEDINGS{10.1007/978-3-319-46909-6_3,
    author={Luke Lincoln and Ruben Gonzalez},
    title={Dense 3D Mapping Using Volume Registration},
    proceedings={Nature of Computation and Communication. Second International Conference, ICTCC 2016, Rach Gia, Vietnam, March 17-18, 2016, Revised Selected Papers},
    proceedings_a={ICTCC},
    year={2017},
    month={1},
    keywords={},
    doi={10.1007/978-3-319-46909-6_3}
}

Luke Lincoln
Ruben Gonzalez
Year: 2017
Dense 3D Mapping Using Volume Registration
ICTCC
Springer
DOI: 10.1007/978-3-319-46909-6_3

Luke Lincoln¹^,*, Ruben Gonzalez¹^,*

1: Griffith University

*Contact email: l.lincoln@griffithuni.edu.au, r.gonzalez@griffithuni.edu.au

Abstract

In this paper, a novel closed form solution is presented for solving the simultaneous localization and mapping (SLAM) problem. Unlike existing methods which rely on iterative feature matching, the proposed method utilises 3D phase correlation. This method provides high noise robustness, even in the presence of moving objects within the scene which are problematic for SLAM systems. Quantitative and qualitative experimental results are presented, evaluating the noise sensitivity, reconstruction quality and robustness in the context of moving objects.

Published: 2017-01-04
Appears in: SpringerLink

: http://dx.doi.org/10.1007/978-3-319-46909-6_3