/Compact Encoding of Robot-Generated 3D Maps for Efficient Wireless Transmission

Compact Encoding of Robot-Generated 3D Maps for Efficient Wireless Transmission

Michael Kaess, Ronald C. Arkin and Jarek Rossignac
Conference Paper, IEEE Intl. Conf. on Advanced Robotics, ICAR, pp. 324-331, June, 2003

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Abstract

This work focuses on real-time compression of laser data on board a mobile robot platform. Data is trans- mitted from the robot over low-bandwidth channels or incrementally in short bursts to a host, where it can be further processed for visualization. For compres- sion purposes, the data is represented as a gray scale depth image. Considered are existing lossless image and file compression schemes (Unix compress, gzip, bzip2, PNG, Jpeg-LS), as well as wavelet transforma- tions tailored to the specific nature of the data. Test- ing is done on several sets of indoor data acquired by a robot moving through rooms and hallways. The re- sults show that Jpeg-LS compression performs best in this setting.

BibTeX Reference
@conference{Kaess-2003-8689,
author = {Michael Kaess and Ronald C. Arkin and Jarek Rossignac},
title = {Compact Encoding of Robot-Generated 3D Maps for Efficient Wireless Transmission},
booktitle = {IEEE Intl. Conf. on Advanced Robotics, ICAR},
year = {2003},
month = {June},
pages = {324-331},
}
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