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Dense 3D Mapping Using Volume Registration

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Nature of Computation and Communication (ICTCC 2016)

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Abstract

In this paper, a novel closed form solution is presented for solving the simultaneous localization and mapping (SLAM) problem. Unlike existing methods which rely on iterative feature matching, the proposed method utilises 3D phase correlation. This method provides high noise robustness, even in the presence of moving objects within the scene which are problematic for SLAM systems. Quantitative and qualitative experimental results are presented, evaluating the noise sensitivity, reconstruction quality and robustness in the context of moving objects.

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Authors and Affiliations

  1. Information and Communication Technology, Griffith University, Gold Coast, Australia

    Luke Lincoln & Ruben Gonzalez

Authors
  1. Luke Lincoln
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  2. Ruben Gonzalez
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Corresponding author

Correspondence to Luke Lincoln .

Editor information

Editors and Affiliations

  1. Nguyen Tat Thanh University , Ho Chi Minh City, Vietnam

    Phan Cong Vinh

  2. Fukuoka Institute of Technology , Fukuoka, Japan

    Leonard Barolli

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© 2016 ICST Institute for Computer Sciences, Social Informatics and Telecommunications Engineering

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Lincoln, L., Gonzalez, R. (2016). Dense 3D Mapping Using Volume Registration. In: Vinh, P., Barolli, L. (eds) Nature of Computation and Communication. ICTCC 2016. Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, vol 168. Springer, Cham. https://doi.org/10.1007/978-3-319-46909-6_3

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  • DOI: https://doi.org/10.1007/978-3-319-46909-6_3

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-46908-9

  • Online ISBN: 978-3-319-46909-6

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