6533b7d5fe1ef96bd1263e31

RESEARCH PRODUCT

Summarizing Large Scale 3D Point Cloud for Navigation Tasks

Pascal VasseurSebastien KrammImeen Ben SalahCédric Demonceaux

subject

0209 industrial biotechnologyComputer scienceProcess (engineering)business.industry[INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO][ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO]Point cloud020206 networking & telecommunicationsCloud computing02 engineering and technologyTerm (time)020901 industrial engineering & automationHuman–computer interaction0202 electrical engineering electronic engineering information engineering[INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO]RobotScale (map)business

description

International audience; Democratization of 3D sensor devices makes 3D maps building easier especially in long term mapping and autonomous navigation. In this paper we present a new method for summarizing a 3D map (dense cloud of 3D points). This method aims to extract a summary map facilitating the use of this map by navigation systems with limited resources (smartphones, cars, robots...). This Vision-based summarizing process is applied in a fully automatic way using the photometric, geometric and semantic information of the studied environment.

yearjournalcountryeditionlanguage
2017-10-16
https://hal.archives-ouvertes.fr/hal-01691568