6533b858fe1ef96bd12b6e05
RESEARCH PRODUCT
Embedded Processing and Compression of 3D Sensor Data for Large Scale Industrial Environments
Joacim DybedalAtle AalerudGeir Hovlandsubject
Computer sciencePoint cloud02 engineering and technologylcsh:Chemical technologytime-of-flightBiochemistryArticleAnalytical ChemistryComputational sciencelaw.inventionIndustrial robotOctreelawpoint clouds0202 electrical engineering electronic engineering information engineeringdenoisinglcsh:TP1-1185Electrical and Electronic EngineeringInstrumentationlidarscalabilityLocal area network020206 networking & telecommunications020207 software engineering3D sensorscompressionAtomic and Molecular Physics and OpticsScalabilitydescription
This paper presents a scalable embedded solution for processing and transferring 3D point cloud data. Sensors based on the time-of-flight principle generate data which are processed on a local embedded computer and compressed using an octree-based scheme. The compressed data is transferred to a central node where the individual point clouds from several nodes are decompressed and filtered based on a novel method for generating intensity values for sensors which do not natively produce such a value. The paper presents experimental results from a relatively large industrial robot cell with an approximate size of 10 m ×
| year | journal | country | edition | language |
|---|---|---|---|---|
| 2019-02-02 | Sensors (Basel, Switzerland) |