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Robotics 2017, 6(3), 15;

Compressed Voxel-Based Mapping Using Unsupervised Learning

Center of Applied Autonomous Sensor Systems (AASS), Örebro University, Örebro 701 82, Sweden
Department of Computing, Imperial College London, London SW7 2AZ, UK
Author to whom correspondence should be addressed.
Received: 11 May 2017 / Revised: 20 June 2017 / Accepted: 26 June 2017 / Published: 29 June 2017
(This article belongs to the Special Issue Robotics and 3D Vision)
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In order to deal with the scaling problem of volumetric map representations, we propose spatially local methods for high-ratio compression of 3D maps, represented as truncated signed distance fields. We show that these compressed maps can be used as meaningful descriptors for selective decompression in scenarios relevant to robotic applications. As compression methods, we compare using PCA-derived low-dimensional bases to nonlinear auto-encoder networks. Selecting two application-oriented performance metrics, we evaluate the impact of different compression rates on reconstruction fidelity as well as to the task of map-aided ego-motion estimation. It is demonstrated that lossily reconstructed distance fields used as cost functions for ego-motion estimation can outperform the original maps in challenging scenarios from standard RGB-D (color plus depth) data sets due to the rejection of high-frequency noise content. View Full-Text
Keywords: 3D mapping; TSDF; compression; dictionary learning; auto-encoder; denoising 3D mapping; TSDF; compression; dictionary learning; auto-encoder; denoising

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

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Ricao Canelhas, D.; Schaffernicht, E.; Stoyanov, T.; Lilienthal, A.J.; Davison, A.J. Compressed Voxel-Based Mapping Using Unsupervised Learning. Robotics 2017, 6, 15.

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