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

Alexander Mock, Thomas Wiemann, Dorit Borrmann, Tristan Igelbrink, Joachim Hertzberg

In: ISR 2016: 47th International Symposium on Robotics. International Symposium on Robotics (ISR-2016) 47th International Symposium on Robotics June 21-22 München Seiten 10-16 ISBN 978-3-8007-4231-8 VDE-Verlag 2016.


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.

Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence