Summarizing Large Scale 3D Mesh

Abstract : Recent progress in 3D sensor devices and in semantic mapping allows to build very rich HD 3D maps very useful for autonomous navigation and localization. However , these maps are particularly huge and require important memory capabilities as well computational resources. In this paper, we propose a new method for summarizing a 3D map (Mesh) as a set of compact spheres in order to facilitate its use by systems with limited resources (smartphones, robots, UAVs, ...). This vision-based summarizing process is applied in a fully automatic way using jointly photometric, geometric and semantic information of the studied environment. The main contribution of this research is to provide a very compact map that maximizes the significance of its content while maintaining the full visibility of the environment. Experimental results in summarizing large-scale 3D map demonstrate the feasibility of our approach and evaluate the performance of the algorithm.
Type de document :
Communication dans un congrès
Liste complète des métadonnées

Littérature citée [2 références]  Voir  Masquer  Télécharger
Contributeur : Cédric Demonceaux <>
Soumis le : vendredi 31 août 2018 - 11:14:42
Dernière modification le : mercredi 5 juin 2019 - 10:33:31
Document(s) archivé(s) le : samedi 1 décembre 2018 - 14:09:56


Fichiers produits par l'(les) auteur(s)


  • HAL Id : hal-01865249, version 1


Imeen Salah, Sebastien Kramm, Cédric Demonceaux, Pascal Vasseur. Summarizing Large Scale 3D Mesh. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems - IROS, Oct 2018, Madrid, Spain. ⟨hal-01865249⟩



Consultations de la notice


Téléchargements de fichiers