Real-Time Terrain Storage Generation from Multiple Sensors towards Mobile Robot Operation Interface
A mobile robot mounted with multiple sensors is used to rapidly collect 3D point clouds and video images so as to allow accurate terrain modeling. In this study, we develop a real-time terrain storage generation and representation system including a nonground point database (PDB), ground mesh databa...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Hindawi Limited
2014-01-01
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| Series: | The Scientific World Journal |
| Online Access: | http://dx.doi.org/10.1155/2014/769149 |
| _version_ | 1798044725791424512 |
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| author | Wei Song Seoungjae Cho Yulong Xi Kyungeun Cho Kyhyun Um |
| author_facet | Wei Song Seoungjae Cho Yulong Xi Kyungeun Cho Kyhyun Um |
| author_sort | Wei Song |
| collection | DOAJ |
| description | A mobile robot mounted with multiple sensors is used to rapidly collect 3D point clouds and video images so as to allow accurate terrain modeling. In this study, we develop a real-time terrain storage generation and representation system including a nonground point database (PDB), ground mesh database (MDB), and texture database (TDB). A voxel-based flag map is proposed for incrementally registering large-scale point clouds in a terrain model in real time. We quantize the 3D point clouds into 3D grids of the flag map as a comparative table in order to remove the redundant points. We integrate the large-scale 3D point clouds into a nonground PDB and a node-based terrain mesh using the CPU. Subsequently, we program a graphics processing unit (GPU) to generate the TDB by mapping the triangles in the terrain mesh onto the captured video images. Finally, we produce a nonground voxel map and a ground textured mesh as a terrain reconstruction result. Our proposed methods were tested in an outdoor environment. Our results show that the proposed system was able to rapidly generate terrain storage and provide high resolution terrain representation for mobile mapping services and a graphical user interface between remote operators and mobile robots. |
| first_indexed | 2024-04-11T23:08:55Z |
| format | Article |
| id | doaj.art-a767c454bf2a4299b08399079e651ec9 |
| institution | Directory Open Access Journal |
| issn | 2356-6140 1537-744X |
| language | English |
| last_indexed | 2024-04-11T23:08:55Z |
| publishDate | 2014-01-01 |
| publisher | Hindawi Limited |
| record_format | Article |
| series | The Scientific World Journal |
| spelling | doaj.art-a767c454bf2a4299b08399079e651ec92022-12-22T03:57:55ZengHindawi LimitedThe Scientific World Journal2356-61401537-744X2014-01-01201410.1155/2014/769149769149Real-Time Terrain Storage Generation from Multiple Sensors towards Mobile Robot Operation InterfaceWei Song0Seoungjae Cho1Yulong Xi2Kyungeun Cho3Kyhyun Um4College of Information Engineering, North China University of Technology, Beijing 100144, ChinaDepartment of Multimedia Engineering, Dongguk University, Seoul 100-715, Republic of KoreaDepartment of Multimedia Engineering, Dongguk University, Seoul 100-715, Republic of KoreaDepartment of Multimedia Engineering, Dongguk University, Seoul 100-715, Republic of KoreaDepartment of Multimedia Engineering, Dongguk University, Seoul 100-715, Republic of KoreaA mobile robot mounted with multiple sensors is used to rapidly collect 3D point clouds and video images so as to allow accurate terrain modeling. In this study, we develop a real-time terrain storage generation and representation system including a nonground point database (PDB), ground mesh database (MDB), and texture database (TDB). A voxel-based flag map is proposed for incrementally registering large-scale point clouds in a terrain model in real time. We quantize the 3D point clouds into 3D grids of the flag map as a comparative table in order to remove the redundant points. We integrate the large-scale 3D point clouds into a nonground PDB and a node-based terrain mesh using the CPU. Subsequently, we program a graphics processing unit (GPU) to generate the TDB by mapping the triangles in the terrain mesh onto the captured video images. Finally, we produce a nonground voxel map and a ground textured mesh as a terrain reconstruction result. Our proposed methods were tested in an outdoor environment. Our results show that the proposed system was able to rapidly generate terrain storage and provide high resolution terrain representation for mobile mapping services and a graphical user interface between remote operators and mobile robots.http://dx.doi.org/10.1155/2014/769149 |
| spellingShingle | Wei Song Seoungjae Cho Yulong Xi Kyungeun Cho Kyhyun Um Real-Time Terrain Storage Generation from Multiple Sensors towards Mobile Robot Operation Interface The Scientific World Journal |
| title | Real-Time Terrain Storage Generation from Multiple Sensors towards Mobile Robot Operation Interface |
| title_full | Real-Time Terrain Storage Generation from Multiple Sensors towards Mobile Robot Operation Interface |
| title_fullStr | Real-Time Terrain Storage Generation from Multiple Sensors towards Mobile Robot Operation Interface |
| title_full_unstemmed | Real-Time Terrain Storage Generation from Multiple Sensors towards Mobile Robot Operation Interface |
| title_short | Real-Time Terrain Storage Generation from Multiple Sensors towards Mobile Robot Operation Interface |
| title_sort | real time terrain storage generation from multiple sensors towards mobile robot operation interface |
| url | http://dx.doi.org/10.1155/2014/769149 |
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