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dc.contributor.authorKaess, Michael
dc.contributor.authorArkin, Ronald C.
dc.contributor.authorRossignac, Jaroslaw R.
dc.date.accessioned2004-09-22T19:40:07Z
dc.date.available2004-09-22T19:40:07Z
dc.date.issued2003
dc.identifier.urihttp://hdl.handle.net/1853/3234
dc.description.abstractThis 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.extent557364 bytes
dc.format.mimetypeapplication/pdf
dc.language.isoen_US
dc.publisherGeorgia Institute of Technologyen
dc.relation.ispartofseriesGVU Technical Report;GIT-GVU-03-22
dc.subject3D compressionen
dc.subject3D modelsen
dc.subjectMobile robotsen
dc.subjectWireless transmissionen
dc.subjectRange dataen
dc.titleCompact Encoding of Robot-generated 3D Maps for Efficient Wireless Transmissionen
dc.typeTechnical Reporten


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