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Real-time terrain storage generation from multiple sensors towards mobile robot operation interface.

Wei Song1, Seoungjae Cho2, Yulong Xi2

  • 1College of Information Engineering, North China University of Technology, Beijing 100144, China.

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This study introduces a real-time system for mobile robots to create detailed 3D terrain models. It efficiently stores and represents terrain data, enabling high-resolution mapping for remote operations.

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Area of Science:

  • Robotics
  • Computer Vision
  • Geographic Information Systems

Background:

  • Accurate terrain modeling is crucial for mobile robot navigation and mapping.
  • Existing methods often struggle with real-time processing of large-scale 3D point cloud data.

Purpose of the Study:

  • To develop a real-time system for terrain storage generation and representation using mobile robots.
  • To enable rapid collection and processing of 3D point clouds and video images for terrain modeling.

Main Methods:

  • A voxel-based flag map was used for real-time registration of large-scale point clouds.
  • A nonground point database (PDB) and ground mesh database (MDB) were integrated using the CPU.
  • A graphics processing unit (GPU) generated a texture database (TDB) by mapping terrain meshes to video images.

Main Results:

  • The system successfully generated a nonground voxel map and a ground textured mesh.
  • Demonstrated rapid terrain storage generation and high-resolution terrain representation in an outdoor environment.
  • Validated the system's capability for mobile mapping services and remote operator interaction.

Conclusions:

  • The developed system provides an efficient solution for real-time terrain modeling with mobile robots.
  • The integration of CPU and GPU processing allows for high-resolution and rapid terrain reconstruction.
  • The system enhances mobile mapping services by offering a robust graphical user interface for remote control and data visualization.