@inproceedings{728b3d247e2d4f5096f213a21d7f41be,
title = "Efficient 3D mapping with RGB-D camera based on distance dependent update",
abstract = "Recently, RGB-D camera has been used widely in indoor SLAM (Simultaneous Localization and Mapping) field. In this paper, we propose an efficient 3D mapping algorithm that considers appearance of dynamic objects. A full 3D mapping system estimates 6-DoF sensor pose and builds 3D voxel grid map simultaneously. In order to build a 3D map, effective method is proposed in terms of computation time. Depending on distance to the object each scan update frequency is varied. By controlling update frequency, we can build a 3D map efficiently. Experiments are carried out with RGB-D sensor and hand-held SLAM results are presented.",
keywords = "Kinect, localization, mapping, RGB-D, Simultaneous Localization and Mapping (SLAM)",
author = "Hyunggi Jo and Sungjin Jo and Cho, {Hae Min} and Euntai Kim",
note = "Publisher Copyright: {\textcopyright} 2016 Institute of Control, Robotics and Systems - ICROS.; 16th International Conference on Control, Automation and Systems, ICCAS 2016 ; Conference date: 16-10-2016 Through 19-10-2016",
year = "2016",
month = jan,
day = "24",
doi = "10.1109/ICCAS.2016.7832417",
language = "English",
series = "International Conference on Control, Automation and Systems",
publisher = "IEEE Computer Society",
pages = "873--875",
booktitle = "ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings",
address = "United States",
}