3D Plane-Based Maps Simplification for RGB-D SLAM Systems

Abstract : RGB-D sensors offer new prospects to significantly develop robotic navigation and interaction capabilities. For applications requiring a high level of precision such as Simultaneous Localization and Mapping (SLAM), using the observed geometry can be a good solution to better constrain the problem and help improve indoor 3D reconstruction. This paper describes an RGB-D SLAM system benefiting from planes segmentation to generate lightweight 3D plane-based maps. Our aim here is to produce global 3D maps composed only by 3D planes unlike existing representations with millions of 3D points. Besides real-time trajectory estimation, the proposed method segments each input depth image into several planes, and then merges the obtained planes into a 3D plane-based reconstruction. This allows to avoid the high cost 3D point-based maps as RGB-D data contain a large number of points and significant redundant information. Our algorithm guarantees a geometric representation of the environment so these kinds of maps can be useful for indoor robot navigation as well as augmented reality applications.
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Journal articles
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https://hal.archives-ouvertes.fr/hal-01698178
Contributor : Frédéric Davesne <>
Submitted on : Wednesday, January 31, 2018 - 11:58:14 PM
Last modification on : Monday, October 28, 2019 - 10:50:22 AM

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  • HAL Id : hal-01698178, version 1

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Hakim Elchaoui Elghor, David Roussel, Fakhr-Eddine Ababsa, El Houssine Bouyakhf. 3D Plane-Based Maps Simplification for RGB-D SLAM Systems. Journal of Theoretical and Applied Information Technology, JATIT, 2016, 93 (2), pp. 402--411. ⟨hal-01698178⟩

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