Rendering of 3D Maps with Additional Information for Operator of a Coal Mine Mobile Robot

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27230%2F16%3A86098553" target="_blank" >RIV/61989100:27230/16:86098553 - isvavai.cz</a>

Result on the web

<a href="http://link.springer.com/chapter/10.1007/978-3-319-47605-6_18" target="_blank" >http://link.springer.com/chapter/10.1007/978-3-319-47605-6_18</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1007/978-3-319-47605-6_18" target="_blank" >10.1007/978-3-319-47605-6_18</a>

Result language

angličtina

Original language name

Rendering of 3D Maps with Additional Information for Operator of a Coal Mine Mobile Robot

Original language description

The paper focuses on visualization of point clouds made by a 3D scanner mounted on a mobile robot Telerescuer designed for reconnaissance of coal mines affected by a disaster. Briefly are described some algorithms used for point cloud pre-processing - voxelization for data reduction, outliers removing for filtering of erroneous data and smoothing for additional filtering of noise data. These algorithms are implemented in C++ using the Point Cloud Library. The next parts focus on the rendering engine created for this application, with more detailed information about drawing individual points with specific size and using the point colours to support better representation of shapes in the map by shading/lighting and additional colouring based on orientation of normal vectors. Mentioned are also some crucial optimizations of rendering and processing performance build on a simple custom system similar to Octree. The final part presents some methods of adding additional information to the map, including sensor readings (temperature, gas concentration, wind speed etc.) and distance measurements (exact numeric measuring, rough dimension estimation by colour coding, corridor cross-section etc.). Integration of these data and the advanced rendering techniques not typically used for point cloud visualization are the innovative approaches described in this paper.

Czech name

—

Czech description

—

Type

D - Article in proceedings

CEP classification

—

OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

—

Continuities

V - Vyzkumna aktivita podporovana z jinych verejnych zdroju

Publication year

2016

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

Lecture Notes in Computer Science. Volume 9991

ISBN

978-3-319-47605-6

ISSN

0302-9743

e-ISSN

neuvedeno

Number of pages

12

Pages from-to

214-225

Publisher name

Springer

Place of publication

Cham

Event location

Řím

Event date

Jun 15, 2016

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

000389939300018