Beautiful vs Useful Maps

We are developing methods for compressing maps in a more intelligent way than only looking at geometry. Specifically we look at the relocalisation criteria as a more useful metric. Our methods in the above slide show that they are much better at relocalisation than traditional compression approaches. Some of them also preserve geometry well.

• Luis Contreras Toledo, Walterio Mayol-Cuevas, Trajectory-Driven Point Cloud Compression Techniques for Visual SLAM. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). October 2015. [PDF]