Mateo, Carlos M. and Corrales, Juan A. and Mezouar, Youcef (2021) Hierarchical, Dense and Dynamic 3D Reconstruction Based on VDB Data Structure for Robotic Manipulation Tasks. Frontiers in Robotics and AI, 7. ISSN 2296-9144
![[thumbnail of pubmed-zip/versions/2/package-entries/frobt-07-600387.pdf]](http://research.manuscritpub.com/style/images/fileicons/text.png)
pubmed-zip/versions/2/package-entries/frobt-07-600387.pdf - Published Version
Download (1MB)
Abstract
This paper presents a novel approach to implement hierarchical, dense and dynamic reconstruction of 3D objects based on the VDB (Variational Dynamic B + Trees) data structure for robotic applications. The scene reconstruction is done by the integration of depth-images using the Truncated Signed Distance Field (TSDF). The proposed reconstruction method is based on dynamic trees in order to provide similar reconstruction results to the current state-of-the-art methods (i.e., complete volumes, hashing voxels and hierarchical volumes) in terms of execution time but with a direct multi-level representation that remains real-time. This representation provides two major advantages: it is a hierarchical and unbounded space representation. The proposed method is optimally implemented to be used on a GPU architecture, exploiting the parallelism skills of this hardware. A series of experiments will be presented to prove the performance of this approach in a robot arm platform.
Item Type: | Article |
---|---|
Subjects: | Science Repository > Mathematical Science |
Depositing User: | Managing Editor |
Date Deposited: | 28 Jun 2023 04:08 |
Last Modified: | 11 Oct 2023 03:59 |
URI: | http://research.manuscritpub.com/id/eprint/2550 |