Skip navigation

Investigation into the effects of transmission-channel fidelity loss in RGBD sensor data for SLAM

Investigation into the effects of transmission-channel fidelity loss in RGBD sensor data for SLAM

Wetherall, Jodie, 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:10.1109/IWSSIP.2015.7314182)

[img]
Preview
PDF (Publisher's PDF)
13923_WETHERALL_Transmission_Channel_Fidelity_Loss_2015.pdf - Published Version

Download (735kB)

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 / Department / 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

Actions (login required)

View Item View Item

Downloads

Downloads per month over past year

View more statistics