Hierarchies of octrees for efficient 3D mapping

K. M. Wurm, D. Hennes, D. Holz, R. B. Rusu, C. Stachniss, K. Konolige, W. Burgard
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In this paper, we present a novel multi-resolution approach to efficiently mapping 3D environments. Our representation models the environment as a hierarchy of probabilistic 3D maps, in which each submap is updated and transformed individually. In addition to the formal description of the approach, we present an implementation for tabletop manipulation tasks and an information-driven exploration algorithm for autonomously building a hierarchical map from sensor data. We evaluate our approach
more » ... ng real-world as well as simulated data. The results demonstrate that our method is able to efficiently represent 3D environments at high levels of detail. Compared to a monolithic approach, our maps can be generated significantly faster while requiring significantly less memory.
doi:10.1109/iros.2011.6094571 dblp:conf/iros/WurmHHRSKB11 fatcat:zyrjyasui5eltokz73w45kbinu