3D LASER MAPPING FOR ADVANCED ROBOTICS APPLICATIONS

Andrzej Masłowski, Janusz Będkowski, Paweł Musialik, Karol Majek

Abstract

This paper presents the gathering, processing and presenting 3D data for use in Advanced Robotics Applications like Search and Rescue operations. The data are gathered by unmanned ground platforms, in the form of 3D point clouds via laser scanning systems. The clouds are matched and transformed into a consistent, highly accurate 3D model. The paper describes the pipeline for such matching based on Iterative Closest Point algorithm supported by loop closing done with LUM method. The pipeline was implemented for parallel computation with NVIDIA CUDA, which leads to higher matching accuracy and lower computation time.

Keywords

laser data, 3D mapping, robotics applications

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IMEKO-WC-2015-TC15-325.pdf

DOI

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IMEKO TC

TC15 - Experimental Mechanics

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