Real Time Texture Generation in Optimized Large-Scale Polygon Meshes with KinectFusion

Konferenz: ISR 2016 - 47st International Symposium on Robotics
21.06.2016 - 22.06.2016 in München, Germany

Tagungsband: ISR 2016

Seiten: 7Sprache: EnglischTyp: PDF

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Mock, Alexander; Wiemann, Thomas; Igelbrink, Tristan (University Osnabrück, Germany)
Borrmann, Dorit (University of Würzburg, Germany)
Hertzberg, Joachim (University Osnabrück, Germany & DFKI Robotics Innovation Center, Germany)

Large scale variants of the well known KinectFusion algorithm allow for generating on-line polygonal indoor maps for robotic applications. This paper presents a new real time algorithm to automatically generate, on top of the polygonal map, high resolution textures for optimized meshes of large scale planar environments in real time. The proposed method generates the meshes on-line without the need of post-processing, as is shown in experiments.