A DISTRIBUTED ONLINE 3D-LIDAR MAPPING SYSTEM
In this paper we are presenting work done within the joint development project ANKommEn. It deals with the development of a highly automated robotic system for fast data acquisition in civil disaster scenarios. One of the main requirements is a versatile system, hence the concept embraces a machin...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2017-08-01
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| Series: | The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| Online Access: | https://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XLII-2-W6/339/2017/isprs-archives-XLII-2-W6-339-2017.pdf |
| Summary: | In this paper we are presenting work done within the joint development project ANKommEn. It deals with the development of a highly
automated robotic system for fast data acquisition in civil disaster scenarios. One of the main requirements is a versatile system, hence
the concept embraces a machine cluster consisting of multiple fundamentally different robotic platforms. To cover a large variety of
potential deployment scenarios, neither the absolute amount of participants, nor the precise individual layout of each platform shall
be restricted within the conceptual design. Thus leading to a variety of special requirements, like onboard and online data processing
capabilities for each individual participant and efficient data exchange structures, allowing reliable random data exchange between
individual robots. We are demonstrating the functionality and performance by means of a distributed mapping system evaluated with
real world data in a challenging urban and rural indoor/outdoor scenarios. |
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| ISSN: | 1682-1750 2194-9034 |