STeAM Sensor Tracking and Mapping

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Presentation transcript:

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

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.

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

3D mapping

Pre-processing: Voxelization

Pre-processing: Navigable Space

Pre-processing: Descriptor generation

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

Global localization

Pose Tracking

Live demo Any questions?

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