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We present a novel RGB-D mapping system for generating 3D maps over spatiallyextended regions with higher resolution than current methods using multiple,dynamically placed mapping volumes. Our method takes in RGB-D frames anddynamically assigns multiple mapping volumes to the environment, exchangingmapping volumes between the CPU and GPU. Mapping volumes are added or removedas needed to allow for spatially extended, high resolution mapping. Our systemis designed to maximize the resolution possible for such volumetric methods,while working on an unbounded space.

Multi-Volume High Resolution RGB-D Mapping with Dynamic Volume Placement