Compact Encoding of Robot-Generated 3D Maps for Efficient Wireless Transmission
Conference Paper, Proceedings of 11th International Conference on Advanced Robotics (ICAR '03), pp. 324 - 331, June, 2003
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 grayscale 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.
BibTeX
@conference{Kaess-2003-8689,author = {Michael Kaess and Ronald C. Arkin and Jarek Rossignac},
title = {Compact Encoding of Robot-Generated 3D Maps for Efficient Wireless Transmission},
booktitle = {Proceedings of 11th International Conference on Advanced Robotics (ICAR '03)},
year = {2003},
month = {June},
pages = {324 - 331},
}
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