Real-Time Height Map Fusion using Differentiable Rendering

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Title: Real-Time Height Map Fusion using Differentiable Rendering
Authors: Zienkiewicz, J
Davison, AJ
Leutenegger, S
Item Type: Conference Paper
Abstract: We present a robust real-time method which performs dense reconstruction of high quality height maps from monocular video. By representing the height map as a triangular mesh, and using efficient differentiable rendering approach, our method enables rigorous incremental probabilistic fusion of standard locally estimated depth and colour into an immediately usable dense model. We present results for the application of free space and obstacle mapping by a lowcost robot, showing that detailed maps suitable for autonomous navigation can be obtained using only a single forward-looking camera.
Issue Date: 1-Dec-2016
Date of Acceptance: 5-Aug-2016
URI: http://hdl.handle.net/10044/1/38814
DOI: https://dx.doi.org/10.1109/IROS.2016.7759630
ISSN: 2153-0866
Publisher: IEEE
Journal / Book Title: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
Copyright Statement: © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Sponsor/Funder: Dyson Technology Limited
Dyson Technology Limited
Funder's Grant Number: PO 4500098215
PO 4500378543
Conference Name: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
Keywords: Science & Technology
Technology
Computer Science, Artificial Intelligence
Robotics
Computer Science
IMAGES
Publication Status: Published
Start Date: 2016-10-09
Finish Date: 2016-10-14
Conference Place: Daejeon, Korea
Open Access location: https://www.doc.ic.ac.uk/~sleutene/publications/IROS2016.pdf
Appears in Collections:Faculty of Engineering
Computing



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