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Proceedings Paper

Multi-volume mapping and tracking for real-time RGB-D sensing
Author(s): Lingni Ma; Egor Bondarev; Peter H. N. de With
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Paper 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.

Paper Details

Date Published: 16 March 2015
PDF: 8 pages
Proc. SPIE 9399, Image Processing: Algorithms and Systems XIII, 939918 (16 March 2015); doi: 10.1117/12.2083350
Show Author Affiliations
Lingni Ma, Technische Univ. Eindhoven (Netherlands)
Egor Bondarev, Technische Univ. Eindhoven (Netherlands)
Peter H. N. de With, Technische Univ. Eindhoven (Netherlands)

Published in SPIE Proceedings Vol. 9399:
Image Processing: Algorithms and Systems XIII
Karen O. Egiazarian; Sos S. Agaian; Atanas P. Gotchev, Editor(s)

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