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

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dc.contributor.author Kaess, Michael
dc.contributor.author Arkin, Ronald C.
dc.contributor.author Rossignac, Jaroslaw R.
dc.date.accessioned 2004-09-22T19:40:07Z
dc.date.available 2004-09-22T19:40:07Z
dc.date.issued 2003
dc.identifier.uri http://hdl.handle.net/1853/3234
dc.description.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. en
dc.format.extent 557364 bytes
dc.format.mimetype application/pdf
dc.language.iso en_US
dc.publisher Georgia Institute of Technology en
dc.relation.ispartofseries GVU Technical Report;GIT-GVU-03-22
dc.subject 3D compression en
dc.subject 3D models en
dc.subject Mobile robots en
dc.subject Wireless transmission en
dc.subject Range data en
dc.title Compact Encoding of Robot-generated 3D Maps for Efficient Wireless Transmission en
dc.type Technical Report en


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