Creating semantic maps from laser terrestrial data

• Autorzy: Będkowski J. , Majek K. , Musialik P. , Masłowski A. , Adamek A.

Warianty tytułu

PL

Tworzenie map semantycznych na podstawie danych z naziemnego skaningu laserowego

• Języki publikacji: EN

Abstrakty

EN

In this paper creating semantic maps based on laser terrestrial data is shown. Semantic map is based on transformed geometric data (3D laser range finder) into the data with assigned labels. This labels can help in several applications such as navigation of mobile robot by finding traversable and not traversable regions. Computation of large 3D data sets requires high computational power, therefore we proposed the GPU based (Graphic Processing Unit) implementation to decrease the computational time. As a result we demonstrate the computed semantic map for mobile robot navigation.

PL

W niniejszej pracy zostało przedstawione tworzenie map semantycznych na podstawie danych z naziemnego skaningu laserowego. Mapa semantyczna bazuje na danych pomiarowych z przypisanymi etykietami. Te etykiety mogą zostać wykorzystane w wielu aplikacjach, jak nawigacja robota mobilnego z wykorzystaniem podziału na regiony przejezdne i nieprzejezdne. Obliczenia dużych trójwymiarowych zbiorów danych wymaga zastosowania duże mocy obliczeniowej, dlatego zaproponowaliśmy implementację wykorzystującą GPU (Graphic Processing Unit), by zmniejszyć czas obliczeń. W rezultacie prezentujemy mapę semantyczną do nawigacji robota mobilnego.

Słowa kluczowe

EN

semantic map; terrestrial scanning; mobile robot navigation; path planning; parallel computing

PL

mapa semantyczna; skaning naziemny; nawigacja robota mobilnego; planowanie trasy; obliczenia równoległe

• Wydawca: Zarząd Główny Stowarzyszenia Geodetów Polskich
• Czasopismo: Archiwum Fotogrametrii, Kartografii i Teledetekcji
• Rocznik: 2013
• Tom: Vol. Spec.
• Strony: 23--33
• Opis fizyczny: Bibliogr. 43 poz.

Twórcy

autor

Będkowski J.

• Instytut Maszyn Matematycznych

autor

Majek K.

• Instytut Maszyn Matematycznych

autor

Musialik P.

• Instytut Maszyn Matematycznych

autor

Masłowski A.

• Instytut Maszyn Matematycznych

autor

Adamek A.

• Wydział Geodezji i Kartografii, Politechnika Warszawska

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