Partner: Andrzej Typiak

Recent publications
1.Typiak A., Gnatowski M., Szklarski J., Creating terrain maps for unmanned ground platform, SOLID STATE PHENOMENA, ISSN: 1012-0394, DOI: 10.4028/, Vol.210, pp.32-39, 2014

A typical unmanned and remotely operated platform is usually equipped with cameras which give insufficient information about the nearest environment and an operator has difficulties in driving such a platform in unknown environment. In this paper, a problem of the platform nearest area map building based on additional devices is considered. The platform is equipped with SICK LMS lasers, inclinometer and radars. Combining information from the devices allows to build a map which helps an operator to drive the platform more efficiently.


3D Map Building, Laser Telemeter, Navigation System, Surroundings Recognition, Unmanned Ground Platform

Typiak A.-other affiliation
Gnatowski M.-IPPT PAN
Szklarski J.-IPPT PAN
2.Typiak A., Gnatowski M., Map Building System for Unmanned Ground vehicle, SOLID STATE PHENOMENA, ISSN: 1012-0394, DOI: 10.4028/, Vol.180, pp.131-136, 2012
3.Gnatowski M., Szklarki J., Typiak A., Budowanie mapy otoczenia zdalnie sterowanego pojazdu do zadań specjalnych, PRACE NAUKOWE POLITECHNIKI WARSZAWSKIEJ, SERIA: ELEKTRONIKA, ISSN: 0137-2343, Vol.1, No.182, pp.245-254, 2012

Conference papers
1.Musialik P., Majek K., Majek P., Pelka M., Będkowski J., Masłowski A., Typiak A., Accurate 3D mapping and immersive visualization for Search and Rescue, RoMoCo 2015, 10th International Workshop on Robot Motion and Control, 2015-07-06/07-08, Poznań (PL), DOI: 10.1109/RoMoCo.2015.7219728, pp.153-158, 2015

This paper concentrates on the topic of gathering, processing and presenting 3D data for use in Search and Rescue operations. The data are gathered by unmanned ground platforms, in form of 3D point clouds. The clouds are matched and transformed into a consistent, highly accurate 3D model. The paper describes the pipeline for such matching based on Iterative Closest Point algorithm supported by loop closing done with LUM method. The pipeline was implemented for parallel computation with Nvidia CUDA, which leads to higher matching accuracy and lower computation time. An analysis of performance for multiple GPUs is presented. The second problem discussed in the paper is immersive visualization of 3d data for search and rescue personnel. Five strategies are discussed: plain 3D point cloud, hypsometry, normal vectors, space descriptors and an approach based on light simulation through the use of NVIDIA OptiX Ray Tracing Engine. The results from each strategy were shown to end users for validation. The paper discusses the feedback given. The results of the research are used in the development of a support module for ICARUS project.


Three-dimensional displays, Data visualization, Graphics processing units, Image color analysis, Computational modeling, Solid modeling, Pipelines

Musialik P.-Institute of Mathematical Machines (PL)
Majek K.-Institute of Mathematical Machines (PL)
Majek P.-Institute of Mathematical Machines (PL)
Pelka M.-Institute of Mathematical Machines (PL)
Będkowski J.-other affiliation
Masłowski A.-other affiliation
Typiak A.-other affiliation