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

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 the 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.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2003
Accession Number
ADA443598

Entities

People

  • Jarek Rossignac
  • Michael Kaess
  • Ronald C. Arkin

Organizations

  • Georgia Tech

Tags

Communities of Interest

  • Autonomy
  • Biomedical
  • Energy and Power Technologies
  • Materials and Manufacturing Processes

DTIC Thesaurus Topics

  • Algorithms
  • Arithmetic
  • Bandwidth
  • Cartesian Coordinates
  • Coding
  • Compression
  • Computer Stereo Vision
  • Data Compression
  • Data Sets
  • Gray Scale
  • Measurement
  • Range Finders
  • Standards
  • Statistical Algorithms
  • Triangles
  • Visualizations
  • Wavelet Transforms

Fields of Study

  • Computer science

Readers

  • Computer Vision.
  • Image Processing and Computer Vision.
  • Parallel and Distributed Computing.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Directed Energy