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Online Localisation and Colored Mesh Reconstruction Architecture for 3D Visual Feedback in Robotic Exploration Missions

arXiv 2207.10489 ↗First posted 21 Jul 2022cs.RO cs.CVcited by 0

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Abstract (arXiv)

This paper introduces an Online Localisation and Colored Mesh Reconstruction (OLCMR) ROS perception architecture for ground exploration robots aiming to perform robust Simultaneous Localisation And Mapping (SLAM) in challenging unknown environments and provide an associated colored 3D mesh representation in real time. It is intended to be used by a remote human operator to easily visualise the mapped environment during or after the mission or as a development base for further researches in the field of exploration robotics. The architecture is mainly composed of carefully-selected open-source ROS implementations of a LiDAR-based SLAM algorithm alongside a colored surface reconstruction procedure using a point cloud and RGB camera images projected into the 3D space. The overall performances are evaluated on the Newer College handheld LiDAR-Vision reference dataset and on two experimental trajectories gathered on board of representative wheeled robots in respectively urban and countryside outdoor environments. Index Terms: Field Robots, Mapping, SLAM, Colored Surface Reconstruction

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References · 13

  1. 2020ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAMcited by 862
  2. 2020LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mappingcited by 185
  3. 2016Voxblox: Incremental 3D Euclidean Signed Distance Fields for On-Board MAV Planningcited by 148
  4. 2020Fast and Robust Iterative Closest Pointcited by 67
  5. 2020The Newer College Dataset: Handheld LiDAR, Inertial and Vision with Ground Truthcited by 61
  6. 2021F-LOAM: Fast LiDAR Odometry And Mappingcited by 45
  7. 2019Real-time Scalable Dense Surfel Mappingcited by 19
  8. 2021Multi-Camera LiDAR Inertial Extension to the Newer College Datasetcited by 17
  9. 2021A Comparison of Modern General-Purpose Visual SLAM Approachescited by 10
  10. 2021Real-time Multi-Adaptive-Resolution-Surfel 6D LiDAR Odometry using Continuous-time Trajectory Optimizationcited by 9
  11. 2021Balancing the Budget: Feature Selection and Tracking for Multi-Camera Visual-Inertial Odometrycited by 6
  12. 2017Mesh-based 3D Textured Urban Mappingcited by 5
1 more
  1. 2020Elastic and Efficient LiDAR Reconstruction for Large-Scale Exploration Taskscited by 2

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