Real-time 3D scene modeling using dynamic billboard for remote robot control systems

Phuong Minh Chu, Seoungjae Cho, Hieu Trong Nguyen, Sungdae Sim, Kiho Kwak, Kyungeun Cho

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

In this paper, a method for modeling three-dimensional scenes from a Lidar point cloud as well as a billboard calibration approach for remote mobile robot control applications are presented as a combined two-step approach. First, by projecting a local three-dimensional point cloud on two-dimensional coordinate system, we obtain a list of colored points. Based on this list, we apply a proposed ground segmentation algorithm to separate ground and non-ground areas. With the ground part, a dynamic triangular mesh is created by means of a height map and the vehicle position. The non-ground part is divided into small groups. Then, a local voxel map is applied for modeling each group. As a result, all the inner surfaces are eliminated. Second, for billboard calibration, we implement three stages in each frame. In the first stage, at the billboard location, an average ground point is estimated. In the second stage, the distortion angle is calculated. The billboard is updated for each frame in the final stage and corresponds to the terrain gradient.

Original languageEnglish
Title of host publicationMFI 2017 - 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages354-358
Number of pages5
ISBN (Electronic)9781509060641
DOIs
StatePublished - 7 Dec 2017
Event13th IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2017 - Daegu, Korea, Republic of
Duration: 16 Nov 201718 Nov 2017

Publication series

NameIEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems
Volume2017-November

Conference

Conference13th IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2017
Country/TerritoryKorea, Republic of
CityDaegu
Period16/11/1718/11/17

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