A compact spherical RGBD keyframe-based representation

@article{Gokhool2015ACS,
  title={A compact spherical RGBD keyframe-based representation},
  author={Tawsif Gokhool and Renato Martins and Patrick Rives and Noela Despr{\'e}},
  journal={2015 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2015},
  pages={4273-4278}
}
This paper proposes an environmental representation approach based on hybrid metric and topological maps as a key component for mobile robot navigation. Focus is made on an ego-centric pose graph structure by the use of Keyframes to capture the local properties of the scene. With the aim of reducing data redundancy, suppress sensor noise whilst maintaining a dense compact representation of the environment, neighbouring augmented spheres are fused in a single representation. To this end, an… CONTINUE READING

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