Rendering of 3D Maps with Additional Information for Operator of a Coal Mine Mobile Robot
Identifikátory výsledku
Kód výsledku v 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>
Výsledek na webu
<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>
Alternativní jazyky
Jazyk výsledku
angličtina
Název v původním jazyce
Rendering of 3D Maps with Additional Information for Operator of a Coal Mine Mobile Robot
Popis výsledku v původním jazyce
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.
Název v anglickém jazyce
Rendering of 3D Maps with Additional Information for Operator of a Coal Mine Mobile Robot
Popis výsledku anglicky
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.
Klasifikace
Druh
D - Stať ve sborníku
CEP obor
—
OECD FORD obor
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Návaznosti výsledku
Projekt
—
Návaznosti
V - Vyzkumna aktivita podporovana z jinych verejnych zdroju
Ostatní
Rok uplatnění
2016
Kód důvěrnosti údajů
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Údaje specifické pro druh výsledku
Název statě ve sborníku
Lecture Notes in Computer Science. Volume 9991
ISBN
978-3-319-47605-6
ISSN
0302-9743
e-ISSN
neuvedeno
Počet stran výsledku
12
Strana od-do
214-225
Název nakladatele
Springer
Místo vydání
Cham
Místo konání akce
Řím
Datum konání akce
15. 6. 2016
Typ akce podle státní příslušnosti
WRD - Celosvětová akce
Kód UT WoS článku
000389939300018