Multi-Volume High Resolution RGB-D Mapping with Dynamic Volume Placement
Michael Salvato, Ross Finman, and John Leonard

TL;DR
This paper introduces a dynamic multi-volume RGB-D mapping system that enables high-resolution 3D mapping over large, unbounded environments by adaptively managing multiple mapping volumes between CPU and GPU.
Contribution
The novel system dynamically assigns and manages multiple mapping volumes for high-resolution 3D mapping in unbounded spaces, improving resolution and scalability over existing methods.
Findings
Supports spatially extended high-resolution mapping
Efficiently exchanges mapping volumes between CPU and GPU
Adapts volume placement dynamically based on environment
Abstract
We present a novel RGB-D mapping system for generating 3D maps over spatially extended regions with higher resolution than current methods using multiple, dynamically placed mapping volumes. Our method takes in RGB-D frames and dynamically assigns multiple mapping volumes to the environment, exchanging mapping volumes between the CPU and GPU. Mapping volumes are added or removed as needed to allow for spatially extended, high resolution mapping. Our system is designed to maximize the resolution possible for such volumetric methods, while working on an unbounded space.
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Taxonomy
TopicsRobotics and Sensor-Based Localization · 3D Surveying and Cultural Heritage · Remote Sensing and LiDAR Applications
