i-Octree: 近傍探索のための高速・軽量・動的な八分木
i-Octree: A Fast, Lightweight, and Dynamic Octree for Proximity Search
動的に成長する地図に対応するため、点の挿入・削除・ダウンサンプリングをリアルタイムで行える軽量な八分木データ構造を提案し、近傍探索を高速化した。
著者: Jun Zhu, Hongyi Li, Zhepeng Wang, Shengjie Wang, Tao Zhang
分類: cs.RO
原文アブストラクト
Establishing the correspondences between newly acquired points and historically accumulated data (i.e., map) through nearest neighbors search is crucial in numerous robotic applications. However, static tree data structures are inadequate to handle large and dynamically growing maps in real-time. To address this issue, we present the i-Octree, a dynamic octree data structure that supports both fast nearest neighbor search and real-time dynamic updates, such as point insertion, deletion, and on-tree down-sampling. The i-Octree is built upon a leaf-based octree and has two key features: a local spatially continuous storing strategy that allows for fast access to points while minimizing memory usage, and local on-tree updates that significantly reduce computation time compared to existing static or dynamic tree structures. The experiments show that i-Octree outperforms contemporary state-of-the-art approaches by achieving, on average, a 19% reduction in runtime on realworld open datasets.
