Comparison of scanning strategies for the Small Mobile Mapping System

• Autorzy: Majek K. , Będkowski J.
• Języki publikacji: EN

Abstrakty

EN

In this paper two scanning strategies (stop-scan, continuous scanning) of Small Mobile Mapping System (SMMS) are discussed. SMMS registers 3D scans to provide accurate metric maps. This strategies have been implemented and evaluated in INDOOR environment. First is stop-scan fashion – SMMS stops, acquires data and moves forward to next position. The second approach is scan acquisition during motion. The data acquired in these approaches are registered using GPGPU ICP algorithm. As a result the comparison of the two registered point clouds with ground truth data is demonstrated.

Słowa kluczowe

EN

3D scan matching; GPGPU ICP algorithm; mobile mapping system

PL

strategie skanowania 3D; algorytm GPGPU ICP; mobilne systemy mapowania

• Wydawca: Foundation for Young Scientists
• Czasopismo: Challenges of Modern Technology
• Rocznik: 2014
• Tom: Vol. 5, no. 3
• Strony: 9--12
• Opis fizyczny: Bibliogr. 8 poz., rys., fot.

Twórcy

autor

Majek K.

• Institute of Automation and Robotics Warsaw University of Technology, ul. Św. Andrzeja Boboli 8, Warszaw, 02-525, Poland
• Institute of Mathematical Machines, ul. Ludwika Krzywickiego 34, Warsaw, 02-078, Poland

autor

Będkowski J.

• Institute of Automation and Robotics Warsaw University of Technology, ul. Św. Andrzeja Boboli 8, Warszaw, 02-525, Poland
• Institute of Mathematical Machines, ul. Ludwika Krzywickiego 34, Warsaw, 02-078, Poland

Bibliografia

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• [3] Bedkowski J., Maslowski A., de Cubber G., “Real time 3D localization and mapping for USAR robotic application,” Industrial Robot, vol. 39, no. 5, 464–474, 2012.
• [4] Qiu D., May S., Nüchter A., “GPU-Accelerated Nearest Neighbor Search for 3D Registration,” in Proceedings of the 7th International Conference on Computer Vision Systems: Computer Vision Systems, ser. ICVS09. Berlin, Heidelberg: Springer-Verlag, 194–203, 2009.
• [5] Besl, P. J., N. D. McKay. “A Method for Registration of 3-D Shapes.” IEEE Trans. Pattern Anal. Mach. Intell. 14(2): 239-256, 1992
• [6] Elseberg J., Borrmann D., Nüchter A., “Efficient processing of large 3D point clouds,” in Information, Communication and Automation Technologies (ICAT), 2011 XXIII International Symposium on, 1 –7, 2011.
• [7] Będkowski J., Majek K., Nüchter A., “General Purpose Computing on Graphics Processing Units for Robotic Applications”, Journal of Software Engineering for Robotics, 2013.
• [8] Majek K., Pełka M., Będkowski J., Cader M., Masłowski A., “Projekt autonomicznego robota inspekcyjnego”, Automation, Warsaw, 2013.