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Using geometric primitives to render live RGB-D data in the Occulus Rift
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
2015 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Användning av geometriska primitiver för att rendera RGB-D data live i Occulus Rift (Swedish)
Abstract [en]

With advances in technology and lowered price the use of RGB-D cameras for robot applications has become popular. They are able to provide rich information about the environment but due to the huge amount of data that they produce and often limited computational resources, processing and analysing the data is challenging. This creates the need for good and efficient compression methods.

In this thesis we suggest a lossy compression method that extracts planar surfaces from point cloud data, removes redundant interior points and stores the planes as a triangulation of the remaining points. The method can remove over 95\% of input points for a given plane and can do so in real time making it suitable for robotics applications. Despite high compression ratio, the resulting compressed point cloud stays true to the original scene and is visually pleasing to look at.

Place, publisher, year, edition, pages
2015.
National Category
Computer Science
Identifiers
URN: urn:nbn:se:kth:diva-173832OAI: oai:DiVA.org:kth-173832DiVA: diva2:855246
Educational program
Master of Science - Systems, Control and Robotics
Supervisors
Examiners
Available from: 2015-09-21 Created: 2015-09-20 Last updated: 2015-09-21Bibliographically approved

Open Access in DiVA

fulltext(20324 kB)158 downloads
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Type fulltextMimetype application/pdf

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf