A Versatile Decentralized 3D Volumetric Fusion for On-line Reconstruction


  • A. Rajput Department of Computer Science, Sukkur IBA University, Pakistan
  • A. Hussain Department of Electrical Engineering, Sukkur IBA University, Pakistan
  • F. Akhtar Department of Computer Science, Sukkur IBA University, Pakistan
  • Z. H. Khand Department of Computer Science, Sukkur IBA University, Pakistan
  • H. Magsi Department of Electrical Engineering, Sukkur IBA University, Pakistan
Volume: 10 | Issue: 6 | Pages: 6584-6588 | December 2020 | https://doi.org/10.48084/etasr.3838


Advancement in depth-sensing technology has allowed mobile robots to visualize the surrounding environment in 3D models. Regardless of the sensing technology (i.e. active, passive, or laser-based), a complete system that integrates recent depth data in previous 3D models in real-time is done by employing Simultaneous Localization And Mapping (SLAM) algorithms followed by a 3D reconstruction engine. Unfortunately, both the SLAM algorithm and the 3D reconstruction engine are usually executed on a single computing device, making the whole system exceptionally costly and heavy and restricting the robot's mobility. This paper proposes a decentralized, modular reconstruction system capable of employing various sensors to facilitate online 3D reconstruction from a resource-limited mobile robot.


3D reconstruction, visualSLAM, depth fusion


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How to Cite

A. Rajput, A. Hussain, F. Akhtar, Z. H. Khand, and H. Magsi, “A Versatile Decentralized 3D Volumetric Fusion for On-line Reconstruction”, Eng. Technol. Appl. Sci. Res., vol. 10, no. 6, pp. 6584–6588, Dec. 2020.


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