Design and Evaluation of a Teleoperated Robotic 3-D Mapping System using an RGB-D Sensor

作     者：Du, Jianhao Mouser, Craig Sheng, Weihua 

作者机构：Oklahoma State Univ Sch Elect & Comp Engn Stillwater OK 74078 USA 

出 版 物：《IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS》 (IEEE Trans. Syst. Man Cybern. Syst.)

年 卷 期：2016年第46卷第5期

页      面：718-724页

核心收录：

学科分类：0808[工学-电气工程] 08[工学] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：National Science Foundation [CISE/IIS 1231671, CISE/IIS 1427345] Oklahoma State University Planning Grant National Natural Science Foundation of China [61328302, 61222310] Open Research Project of the State Key Laboratory of Industrial Control Technology, Zhejiang University, China [ICT 1536] Direct For Computer & Info Scie & Enginr Div Of Information & Intelligent Systems Funding Source: National Science Foundation Direct For Computer & Info Scie & Enginr Div Of Information & Intelligent Systems Funding Source: National Science Foundation 

主　　题：Client/server model RGB-D camera robotic mapping 

摘      要：In this correspondence paper, we develop a teleoperated robotic 3-D mapping (TeRoM) system which enables efficient human-guided mapping of remote environments for realistic rendering and visualization. First, the hardware design of the TeRoM system is proposed which is based on a Pioneer mobile robot platform and a rotating RGB-D camera. A client/server architecture is developed to allow the data to be processed in a remote server, which makes it possible to implement 3-D mapping on robots with limited resources. Second, a 3-D map is created in real-time while an operator controls the robot and the pan-tilt unit remotely using a joystick. Then the map is converted into a mesh using the marching cubes algorithm and optimized to reduce the data volume. Finally the mesh is imported and rendered in a 3-D rendering engine for interactive and intuitive display. We evaluate the performance of the TeRoM system in terms of accuracy, processing speed, reliability, and manipulability.