Paper Info
Title
Testing the affordable system for digitizing USAR scenes
Abstract
Affordable technological solutions are always welcome, thus we decided to test the backpack based 3D mapping system for digitizing USAR scenes. The system is composed of Intel RealSense Tracking Camera T265, three Velodynes VLP16, custom electronics for multi-lidar synchronization and VR Zotac GO backpack computer equipped with GeForce GTX1070. This configuration allows the operator to collect and process 3D point clouds to obtain a consistent 3D map. To reach satisfactory accuracy we use RealSense as initial guess of trajectory from Visual Odometry (VO). Lidar odometry corrects trajectory and reduces scale error from VO. The academic 6DSLAM is used for loop closure and finally classical ICP algorithm refines the final 3D point cloud. All steps can be done in the field in reasonable time. The VR backpack can be used for virtual travel over digital content afterwords. Additionally deep neural network is used to perform online object detection using Relsense camera input.
Year
DOI
Venue
2019
10.1109/SSRR.2019.8848929
2019 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)
Keywords
Field
DocType
lidar odometry,VR backpack,digital content afterwords,USAR scenes,3D mapping system,multilidar synchronization,GeForce GTX1070,3D point clouds,Visual Odometry,ICP algorithm,6DSLAM,deep neural network,online object detection,Velodynes VLP16,VR Zotac GO backpack computer,Intel RealSense tracking camera T265
Object detection,Computer vision,Synchronization,Visual odometry,Computer science,Odometry,Artificial intelligence,Point cloud,Digital content,Trajectory,For loop
Conference
ISSN
ISBN
Citations 
2374-3247
978-1-7281-0779-0
0
PageRank 
References 
Authors
0.34
0
3
Name
Order
Citations
PageRank
Michal Pelka100.34
Karol Majek200.68
Janusz Bedkowski3296.55