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SDF tracker: a parallel algorithm for on-line pose estimation and scene reconstruction from depth images
Örebro University, School of Science and Technology. (Centre for Applied Autonomous Sensor Systems ( AASS ))ORCID iD: 0000-0001-7035-5710
Örebro University, School of Science and Technology. (Centre for Applied Autonomous Sensor Systems ( AASS ))ORCID iD: 0000-0002-6013-4874
Örebro University, School of Science and Technology. (Centre for Applied Autonomous Sensor Systems ( AASS ))ORCID iD: 0000-0003-0217-9326
2013 (English)In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2013, 3671-3676 p.Conference paper, Published paper (Refereed)
Abstract [en]

Ego-motion estimation and environment mapping are two recurring problems in the field of robotics. In this work we propose a simple on-line method for tracking the pose of a depth camera in six degrees of freedom and simultaneously maintaining an updated 3D map, represented as a truncated signed distance function. The distance function representation implicitly encodes surfaces in 3D-space and is used directly to define a cost function for accurate registration of new data. The proposed algorithm is highly parallel and achieves good accuracy compared to state of the art methods. It is suitable for reconstructing single household items, workspace environments and small rooms at near real-time rates, making it practical for use on modern CPU hardware

Place, publisher, year, edition, pages
IEEE, 2013. 3671-3676 p.
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
National Category
Computer Science
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-30523DOI: 10.1109/IROS.2013.6696880ISI: 000331367403108Scopus ID: 2-s2.0-84893790149ISBN: 978-1-4673-6358-7 (print)OAI: oai:DiVA.org:oru-30523DiVA: diva2:644377
Conference
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),November 3-7, 2013. Tokyo, Japan
Available from: 2013-08-30 Created: 2013-08-30 Last updated: 2017-10-18Bibliographically approved

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Canelhas, Daniel R.Stoyanov, TodorLilienthal, Achim J.
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CiteExportLink to record
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Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
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  • de-DE
  • en-GB
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Output format
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