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

Conference: ISR 2016 - 47st International Symposium on Robotics
06/21/2016 - 06/22/2016 at München, Germany

Proceedings: ISR 2016

Pages: 7Language: englishTyp: 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.