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

Jodie Wetherall, Matthew Taylor, Darren Hurley-Smith

Research output: Chapter in Book/Report/Conference proceedingConference contribution


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 truthdata, and their results have been compared to determine the effect of fidelity loss under various multiplexing approaches with a constrained transmission channel.
Original languageEnglish
Title of host publication2015 International Conference on Systems, Signals and Image Processing (IWSSIP)
Number of pages4
ISBN (Electronic)978-1-4673-8353-0
Publication statusPublished - 2 Nov 2015

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