Compact Encoding of Robot-generated 3D Maps for Efficient Wireless Transmission

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/3234

Title: Compact Encoding of Robot-generated 3D Maps for Efficient Wireless Transmission
Author: Kaess, Michael ; Arkin, Ronald C. ; Rossignac, Jaroslaw R.
Abstract: This work focuses on real-time compression of laser data on board a mobile robot platform. Data is transmitted from the robot over low-bandwidth channels or incrementally in short bursts to a host, where it can be further processed for visualization. For compression purposes, the data is represented as a gray scale depth image. Considered are existing lossless image and file compression schemes (Unix compress, gzip, bzip2, PNG, Jpeg-LS), as well as wavelet transformations tailored to the specific nature of the data. Testing is done on several sets of indoor data acquired by a robot moving through rooms and hallways. The results show that Jpeg-LS compression performs best in this setting.
Type: Technical Report
URI: http://hdl.handle.net/1853/3234
Date: 2003
Relation: GVU Technical Report;GIT-GVU-03-22
Publisher: Georgia Institute of Technology
Subject: 3D compression
3D models
Mobile robots
Wireless transmission
Range data

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