. SkiMap encodes seamlessly a full 3D reconstruction of the environment (left), a height map (center) and a 2D occupancy grid (right). The three representations can be delivered on-line with decreasing time complexity. The displayed maps have been obtained on the Freiburg Campus dataset. 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 wellknown 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 realtime 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.
To tackle some of the research issues associated with map-ping for robot navigation, we have recently introduced the SkiMap framework REF , which turns out both time and memory efficient thanks to a novel core data structure organized as a Tree of SkipLists and, peculiarly, 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.
SkiMap: An efficient mapping framework for robot navigation
2017 IEEE International Conference on Robotics and Automation (ICRA)
2017 IEEE International Conference on Robotics and Automation (ICRA)
Engineering Computer Science