TY - JOUR
T1 - Depth camera based remote three-dimensional reconstruction using incremental point cloud compression
AU - Li, Yufeng
AU - Gao, Jian
AU - Wang, Xinxin
AU - Chen, Yimin
AU - He, Yaozhen
N1 - Publisher Copyright:
© 2022 Elsevier Ltd
PY - 2022/4
Y1 - 2022/4
N2 - Real-time three-dimensional reconstruction is a fundamental technology applied by robots in unknown environments, especially in remote operating systems. This paper proposes a remote indoor environment reconstruction method based on incremental point cloud compression, which improves the effectiveness of teleoperation-based 3D mapping in the context of hazardous area work environments. First, due to the influence of data bandwidth in remote map building, this paper adds point cloud compression to the keyframe-based building method to form a new reconstruction technique using incremental point cloud compression, so as to realize the mapping of the remote environment with small data transmission. Second, a teleoperation system that integrates a remote robot platform and a local operation platform is constructed. Remote robot equipped with a depth camera can better complete the environmental reconstruction under the guidance of the local operator. Finally, we build the actual scene for 3D construction and perform task planning in the reconstruction model. Experimental results and data prove the practicality of our system.
AB - Real-time three-dimensional reconstruction is a fundamental technology applied by robots in unknown environments, especially in remote operating systems. This paper proposes a remote indoor environment reconstruction method based on incremental point cloud compression, which improves the effectiveness of teleoperation-based 3D mapping in the context of hazardous area work environments. First, due to the influence of data bandwidth in remote map building, this paper adds point cloud compression to the keyframe-based building method to form a new reconstruction technique using incremental point cloud compression, so as to realize the mapping of the remote environment with small data transmission. Second, a teleoperation system that integrates a remote robot platform and a local operation platform is constructed. Remote robot equipped with a depth camera can better complete the environmental reconstruction under the guidance of the local operator. Finally, we build the actual scene for 3D construction and perform task planning in the reconstruction model. Experimental results and data prove the practicality of our system.
KW - Human-computer interaction
KW - Incremental point cloud compression
KW - Teleoperation
KW - Three-dimensional reconstruction
UR - http://www.scopus.com/inward/record.url?scp=85124076212&partnerID=8YFLogxK
U2 - 10.1016/j.compeleceng.2022.107767
DO - 10.1016/j.compeleceng.2022.107767
M3 - 文章
AN - SCOPUS:85124076212
SN - 0045-7906
VL - 99
JO - Computers and Electrical Engineering
JF - Computers and Electrical Engineering
M1 - 107767
ER -