Patch Volumes: Segmentation-Based Consistent Mapping with RGB-D Cameras

Recent advances have allowed for the creation of dense, accurate 3D maps of indoor environments using RGB-D cameras. Some techniques are able to create large-scale maps, while others focus on accurate details using GPU-accelerated volumetric representations. In this work we describe patch volumes, a novel multiple-volume representation which enables the creation of globally consistent maps of indoor environments beyond the capabilities of previous high-accuracy volumetric representations.