We present a novel mapping framework for robot navigation which features a multi-level querying system capable to obtain rapidly representations as diverse as a 3D voxel grid, a 2.5D height map and a 2D occupancy grid. These are inherently embedded into a memory and time efficient core data structure organized as a Tree of SkipLists. Compared to the well-known Octree representation, our approach exhibits a better time efficiency, thanks to its simple and highly parallelizable computational structure, and a similar memory footprint when mapping large workspaces. Peculiarly within the realm of mapping for robot navigation, our framework supports real-time erosion and re-integration of measurements upon reception of optimized poses from the sensor tracker, so as to improve continuously the accuracy of the map.

De Gregorio, D., Di Stefano, L. (2017). SkiMap: An efficient mapping framework for robot navigation. Institute of Electrical and Electronics Engineers Inc. [10.1109/ICRA.2017.7989299].

SkiMap: An efficient mapping framework for robot navigation

De Gregorio, Daniele;Di Stefano, Luigi
2017

Abstract

We present a novel mapping framework for robot navigation which features a multi-level querying system capable to obtain rapidly representations as diverse as a 3D voxel grid, a 2.5D height map and a 2D occupancy grid. These are inherently embedded into a memory and time efficient core data structure organized as a Tree of SkipLists. Compared to the well-known Octree representation, our approach exhibits a better time efficiency, thanks to its simple and highly parallelizable computational structure, and a similar memory footprint when mapping large workspaces. Peculiarly within the realm of mapping for robot navigation, our framework supports real-time erosion and re-integration of measurements upon reception of optimized poses from the sensor tracker, so as to improve continuously the accuracy of the map.
2017
Proceedings - IEEE International Conference on Robotics and Automation
2569
2576
De Gregorio, D., Di Stefano, L. (2017). SkiMap: An efficient mapping framework for robot navigation. Institute of Electrical and Electronics Engineers Inc. [10.1109/ICRA.2017.7989299].
De Gregorio, Daniele; Di Stefano, Luigi
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/619494
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