RGBD传感器数据传输信道保真度损失对SLAM的影响研究

2015 International Conference on Systems, Signals and Image Processing (IWSSIP) Pub Date : 2015-09-11 DOI:10.1109/IWSSIP.2015.7314182

Jodie Wetherall, M. Taylor, D. Hurley-Smith

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引用次数: 4

摘要

同时定位与制图(SLAM)在计算上非常昂贵，并且需要高保真的传感器数据。本文研究了传输信道保真度损失对红绿蓝深(RGBD)传感器数据的影响。使用为爆炸物处置(EOD)开发的移动机器人平台，具有高度受限的数据和视频链接到计算SLAM解决方案的基站。实验在线下进行，使用已知的数据集和地面真实数据，并将其结果进行比较，以确定具有约束传输信道的各种复用方法下保真度损失的影响。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Investigation into the effects of transmission-channel fidelity loss in RGBD sensor data for SLAM

Simultaneous Location and Mapping (SLAM) is computationally expensive, and requires high-fidelity sensor data. This paper investigates the effects of transmission channel fidelity loss in Red-Green-Blue-Depth (RGBD) sensor data. A mobile robotic platform developed for Explosive Ordinance Disposal (EOD) is used, with a highly constrained data and video link to a base station which computes a SLAM solution. Experiments were conducted offline, using well known data-sets with ground truth data, and their results have been compared to determine the effect of fidelity loss under various multiplexing approaches with a constrained transmission channel.

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2015 International Conference on Systems, Signals and Image Processing (IWSSIP)

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