Science & Engineering Research Support soCiety (SERSC)
A 3D map provides useful information for various services. Traditional 3D maps, however, consist of a raw image data and are not suitable for real-time applications. In this paper, the authors propose a block-based 3D map, which forms three dimensional spaces in a collection of cubic blocks. The block-based 3D map has two major parameters: an object ratio and a block size. The object ratio is defined as the rate of object pixels to air-filled pixels within a block and determines the type of a block.