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

Jodie Wetherall; Matthew Taylor; Darren Hurley-Smith

doi:10.1109/IWSSIP.2015.7314182

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 proceeding › Conference contribution

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 truthdata, and their results have been compared to determine the effect of fidelity loss under various multiplexing approaches with a constrained transmission channel.

Original language	English
Title of host publication	2015 International Conference on Systems, Signals and Image Processing (IWSSIP)
Publisher	IEEE
Pages	81-84
Number of pages	4
ISBN (Electronic)	978-1-4673-8353-0
DOIs	https://doi.org/10.1109/IWSSIP.2015.7314182
Publication status	Published - 2 Nov 2015

Access to Document

10.1109/IWSSIP.2015.7314182

https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7314182

Cite this

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

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 truthdata, and their results have been compared to determine the effect of fidelity loss under various multiplexing approaches with a constrained transmission channel. ",

author = "Jodie Wetherall and Matthew Taylor and Darren Hurley-Smith",

year = "2015",

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doi = "10.1109/IWSSIP.2015.7314182",

language = "English",

pages = "81--84",

booktitle = "2015 International Conference on Systems, Signals and Image Processing (IWSSIP)",

publisher = "IEEE",

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AU - Hurley-Smith, Darren

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Y1 - 2015/11/2

N2 - 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.

AB - 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.

U2 - 10.1109/IWSSIP.2015.7314182

DO - 10.1109/IWSSIP.2015.7314182

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BT - 2015 International Conference on Systems, Signals and Image Processing (IWSSIP)

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