Partner: Artur Adamek

Warsaw University of Technology (PL)

Recent publications
1.Będkowski J., Majek K., Musialik P., Adamek A., Andrzejewski D., Czekaj D., Towards terrestrial 3D data registration improved by parallel programming and evaluated with geodetic precision, Automation in Construction, ISSN: 0926-5805, DOI: 10.1016/j.autcon.2014.07.013, Vol.47, pp.78-91, 2014
Abstract:

In this paper a quantitative and qualitative evaluation of proposed ICP-based data registration algorithm, improved by parallel programming in CUDA (compute unified device architecture), is shown. The algorithm was tested on data collected with a 3D terrestrial laser scanner Z + F Imager 5010 mounted on the mobile platform PIONNER 3AT. Parallel implementation enables data registration on-line, even using a laptop with a standard hardware configuration (graphic card NVIDIA GeForce 6XX/7XX series). Robustness is assured by the use of CUDA-enhanced fast NNS (nearest neighbor search) applied for ICP (iterative closest point) with SVD (singular value decomposition) solver. The evaluation is based on the reference ground truth data registered with geodetic precision. The geodetic approach extends our previous work and gives an accurate benchmark for the algorithm. The data were collected in an urban area under a demolition scenario in a real environment. We compared four registration strategies concerning data preprocessing, such as subsampling and vegetation removal. The result is the analysis of measured performance and the accuracy of the geometric maps. The system provides accurate metric maps on-line and can be used in several applications such as mobile robotics for construction area modelling or spatial design support. It is a core component for our future work on mobile mapping systems.

Keywords:

Iterative closest point, Data registration, Mobile mapping, CUDA parallel programming, Spatial design support

Affiliations:
Będkowski J.-other affiliation
Majek K.-Institute of Mathematical Machines (PL)
Musialik P.-Institute of Mathematical Machines (PL)
Adamek A.-Warsaw University of Technology (PL)
Andrzejewski D.-Warsaw University of Technology (PL)
Czekaj D.-Warsaw University of Technology (PL)
2.Ostrowski I., Majek K., Adamek A., Musialik P., Będkowski J., Masłowski A., Mobilny system tworzenia przestrzennej dokumentacji semantycznej, POMIARY AUTOMATYKA KONTROLA, ISSN: 0032-4140, Vol.58, No.12, pp.1117-1120, 2012
Abstract:

W artykule przedstawiono mobilny system tworzenia przestrzennej dokumentacji semantycznej. Zaproponowano nową metodę filtracji oraz rejestracji danych wykorzystującą obliczenia równoległe (NVIDIA FERMI). Opracowany system informatyczny umożliwia gromadzenie danych przestrzennych z wykorzystaniem geodezyjnego systemu pomiarowego 3D oraz pozwala na etykietowanie obiektów. Tworzona mapa semantyczna jest dostępna z poziomu dowolnego urządzenia mobilnego (laptop, smartphone, tablet).

Keywords:

mapa semantyczna, przestrzenna dokumentacja semantyczna, skanowanie laserowe, chmura punktów, obliczenia równoległe, wizualizacja

Affiliations:
Ostrowski I.-other affiliation
Majek K.-Institute of Mathematical Machines (PL)
Adamek A.-Warsaw University of Technology (PL)
Musialik P.-Institute of Mathematical Machines (PL)
Będkowski J.-other affiliation
Masłowski A.-other affiliation