1. STeAM Sensor Tracking and Mapping
Carlos Sánchez, Simone Ceriani, Pierluigi Taddei,
Erik Wolfart, Vítor Sequeira

2. Introduction Who we are? What we do? How we do it? European Commission
Joint Research Centre (JRC)
Institute for Transuranium Elements (ITU)
What we do?
Nuclear security
Facility verification
How we do it?
3D laser scanning
Registration and change detection.

3. Overview 3D mapping Pre-processing On-line localization Setup day
Evaluation day

4. 3D mapping

5. Pre-processing: Voxelization

6. Pre-processing: Navigable Space

7. Pre-processing: Descriptor generation

8. Online localization
Velodyne HDL-32
40° x 360° FoV
32 lines
~10 Hz

9. Global localization

10. Pose Tracking

11. Live demo
Any questions?