Distributed 3D-Map Matching and Merging on Resource-Limited Platforms Using Tomographic Features

Halil Utku Unlu; Anthony Tzes; Prashanth Krishnamurthy; Farshad Khorrami

doi:10.1109/ECMR59166.2023.10256285

Distributed 3D-Map Matching and Merging on Resource-Limited Platforms Using Tomographic Features

Halil Utku Unlu, Anthony Tzes, Prashanth Krishnamurthy, Farshad Khorrami

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

A fast, robust, resource-efficient, and distributed 3D map matching and merging algorithm utilizing extracted tomographic features is studied. Instead of depending on 3D features and descriptors, 2D features are extracted from 2D projections of horizontal sections of gravity-Aligned local maps and matched with slices from the other map at different height differences, enabling the estimation of four degrees of freedom. The proposed algorithm is observed to provide order-of-magnitude improvements in memory and time efficiency over state-of-The-Art feature extraction and registration pipelines, rendering it useful for near real-Time map merging tasks in resource-limited platforms (e.g. UAVs).

Original language	English (US)
Title of host publication	Proceedings of the 11th European Conference on Mobile Robots, ECMR 2023
Editors	Lino Marques, Ivan Markovic
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9798350307047
DOIs	https://doi.org/10.1109/ECMR59166.2023.10256285
State	Published - 2023
Event	11th European Conference on Mobile Robots, ECMR 2023 - Coimbra, Portugal Duration: Sep 4 2023 → Sep 7 2023

Publication series

Name	Proceedings of the 11th European Conference on Mobile Robots, ECMR 2023

Conference

Conference	11th European Conference on Mobile Robots, ECMR 2023
Country/Territory	Portugal
City	Coimbra
Period	9/4/23 → 9/7/23

ASJC Scopus subject areas

Automotive Engineering
Artificial Intelligence
Computer Vision and Pattern Recognition
Aerospace Engineering
Mechanical Engineering
Control and Optimization

Access to Document

10.1109/ECMR59166.2023.10256285

Cite this

Unlu, H. U., Tzes, A., Krishnamurthy, P., & Khorrami, F. (2023). Distributed 3D-Map Matching and Merging on Resource-Limited Platforms Using Tomographic Features. In L. Marques, & I. Markovic (Eds.), Proceedings of the 11th European Conference on Mobile Robots, ECMR 2023 (Proceedings of the 11th European Conference on Mobile Robots, ECMR 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ECMR59166.2023.10256285

Distributed 3D-Map Matching and Merging on Resource-Limited Platforms Using Tomographic Features. / Unlu, Halil Utku; Tzes, Anthony; Krishnamurthy, Prashanth et al.
Proceedings of the 11th European Conference on Mobile Robots, ECMR 2023. ed. / Lino Marques; Ivan Markovic. Institute of Electrical and Electronics Engineers Inc., 2023. (Proceedings of the 11th European Conference on Mobile Robots, ECMR 2023).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Unlu, HU, Tzes, A, Krishnamurthy, P & Khorrami, F 2023, Distributed 3D-Map Matching and Merging on Resource-Limited Platforms Using Tomographic Features. in L Marques & I Markovic (eds), Proceedings of the 11th European Conference on Mobile Robots, ECMR 2023. Proceedings of the 11th European Conference on Mobile Robots, ECMR 2023, Institute of Electrical and Electronics Engineers Inc., 11th European Conference on Mobile Robots, ECMR 2023, Coimbra, Portugal, 9/4/23. https://doi.org/10.1109/ECMR59166.2023.10256285

Unlu HU, Tzes A, Krishnamurthy P, Khorrami F. Distributed 3D-Map Matching and Merging on Resource-Limited Platforms Using Tomographic Features. In Marques L, Markovic I, editors, Proceedings of the 11th European Conference on Mobile Robots, ECMR 2023. Institute of Electrical and Electronics Engineers Inc. 2023. (Proceedings of the 11th European Conference on Mobile Robots, ECMR 2023). doi: 10.1109/ECMR59166.2023.10256285

Unlu, Halil Utku ; Tzes, Anthony ; Krishnamurthy, Prashanth et al. / Distributed 3D-Map Matching and Merging on Resource-Limited Platforms Using Tomographic Features. Proceedings of the 11th European Conference on Mobile Robots, ECMR 2023. editor / Lino Marques ; Ivan Markovic. Institute of Electrical and Electronics Engineers Inc., 2023. (Proceedings of the 11th European Conference on Mobile Robots, ECMR 2023).

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AB - A fast, robust, resource-efficient, and distributed 3D map matching and merging algorithm utilizing extracted tomographic features is studied. Instead of depending on 3D features and descriptors, 2D features are extracted from 2D projections of horizontal sections of gravity-Aligned local maps and matched with slices from the other map at different height differences, enabling the estimation of four degrees of freedom. The proposed algorithm is observed to provide order-of-magnitude improvements in memory and time efficiency over state-of-The-Art feature extraction and registration pipelines, rendering it useful for near real-Time map merging tasks in resource-limited platforms (e.g. UAVs).

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Distributed 3D-Map Matching and Merging on Resource-Limited Platforms Using Tomographic Features

Abstract

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ASJC Scopus subject areas

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