Wetherall, Jodie ORCID: 0000-0002-4786-5824, Taylor, Matthew and Hurley-Smith, Darren (2015) Investigation into the effects of transmission-channel fidelity loss in RGBD sensor data for SLAM. In: 22nd International Conference on Systems, Signals and Image Processing. IEEE, London, UK, pp. 81-84. ISBN 9781467383523 (doi:https://doi.org/10.1109/IWSSIP.2015.7314182)

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Abstract

Simultaneous Location and Mapping (SLAM) is computationally expensive, and requires high-fidelity sensor data. This paper investigates the effects of transmission channel fidelity loss in Red-Green-Blue-Depth (RGBD) sensor data. A mobile robotic platform developed for Explosive Ordinance Disposal (EOD) is used, with a highly constrained data and video link to a base station which computes a SLAM solution. Experiments were conducted offline, using well known data-sets with ground truth data, and their results have been compared to determine the effect of fidelity loss under various multiplexing approaches with a constrained transmission channel.

Item Type:	Conference Proceedings
Title of Proceedings:	22nd International Conference on Systems, Signals and Image Processing
Additional Information:	2015 International Conference on Systems, Signals and Image Processing (IWSSIP), London, 10-12 September 2015.
Uncontrolled Keywords:	SLAM; mapping; computer vision; image processing
Faculty / School / Research Centre / Research Group:	Faculty of Engineering & Science > Internet Security Research Laboratory
Last Modified:	19 Oct 2016 08:31
URI:	http://gala.gre.ac.uk/id/eprint/13923

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