Building a dense surface map incrementally from semi-dense point cloud and RGBimages

  • Qian-shan Li
  • Rong Xiong
  • Shoudong Huang
  • Yi-ming Huang
Article
  • 108 Downloads

Abstract

Building and using maps is a fundamental issue for bionic robots in field applications. A dense surface map, which offers rich visual and geometric information, is an ideal representation of the environment for indoor/outdoor localization, navigation, and recognition tasks of these robots. Since most bionic robots can use only small light-weight laser scanners and cameras to acquire semi-dense point cloud and RGB images, we propose a method to generate a consistent and dense surface map from this kind of semi-dense point cloud and RGB images. The method contains two main steps: (1) generate a dense surface for every single scan of point cloud and its corresponding image(s) and (2) incrementally fuse the dense surface of a new scan into the whole map. In step (1) edge-aware resampling is realized by segmenting the scan of a point cloud in advance and resampling each sub-cloud separately. Noise within the scan is reduced and a dense surface is generated. In step (2) the average surface is estimated probabilistically and the non-coincidence of different scans is eliminated. Experiments demonstrate that our method works well in both indoor and outdoor semi-structured environments where there are regularly shaped objects.

Keywords

Bionic robot Robotic mapping Surface fusion 

CLC number

TP242.6 

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Copyright information

© Journal of Zhejiang University Science Editorial Office and Springer-Verlag Berlin Heidelberg 2015

Authors and Affiliations

  • Qian-shan Li
    • 1
    • 3
  • Rong Xiong
    • 1
    • 3
  • Shoudong Huang
    • 2
    • 3
  • Yi-ming Huang
    • 4
  1. 1.State Key Laboratory of Industrial Control TechnologyZhejiang UniversityHangzhouChina
  2. 2.Faculty of Engineering and Information TechnologyThe University of TechnologySydneyAustralia
  3. 3.ZJU-UTS Joint Center on RoboticsZhejiang UniversityHangzhouChina
  4. 4.Department of Control Science and EngineeringZhejiang UniversityHangzhouChina

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