IEEE Robotics & Automation Magazine - September 2018 - 16
2-D SLAM
Then, the point cloud is filtered using a 3-D pass-through filter
to remove image regions that are out of our interest. A statistical outlier and a downsampling filter are also applied on the
point cloud data set, using a voxelized grid approach. In this
way, the laser image has a reduced number of points, allowing
a faster plane detection. The estimation uses the random sample consensus (RANSAC) algorithm [20] to search for the best
plane in the cloud, reducing at the same time the number of
iterations, even if the number of points is very large. Points
belonging to the same plane are removed from the original
laser point cloud in every iteration, until a specified numberof-points threshold is met. Then, for each plane the mean normal vector and its four corners are computed to classify a plane
as ceiling, floor, or lateral or front wall, visualized in different
colors in Figure 7(b). Upon request, the pilot can use a Robot
Operating System (ROS) service to compute the relative orientation of planes and the distances between identified planes'
corners, computed along the normal direction.
RGB Image
Angle: 88.38° (Wall to IMU)
Angle: 89.76° (Wall to Floor)
Distance: 1.81 m (Between Points)
Angle: 1.38° (Floor to IMU)
Figure 6. The distances and angles between the wall, the floor,
and the gravity vector in room 2. On the upper left is a 2-D lidarbased simultaneous localization and mapping (SLAM) path and
on the right is the RGB image on the scene.
(a)
Local Regions
Measurements Module
The second vision module is dedicated to compute distances
and orientations between selected local regions in the environment, using both the 3-D perceptual data from the stereo
(b)
(c)
(d)
(e)
Figure 7. (a) The 3-D point cloud of the first room, (b) the reconstructed planes of the first room, (c) the RGB view of a crack
inspected in the first room from the PI point of view, (d) the crack estimated width measurement in the point cloud (in meters), and
(e) the manual measurement of the crack width in the field (in centimeters).
16
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IEEE ROBOTICS & AUTOMATION MAGAZINE
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september 2018
IEEE Robotics & Automation Magazine - September 2018
Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2018
Contents
IEEE Robotics & Automation Magazine - September 2018 - Cover1
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