Implementation of a real-time appearance-based mapping in a fully autonomous urban search robot

The paper describes the findings of using a real time 3d mapping program, the real-time appearance-based mapping (RTAB-Map) used for a certain project. Coming from a designed wirelessly controlled mobile robotic platform capable of navigating an unknown environment, creating a 3D reconstruction of s...

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Main Authors: Siy, Joshua Samuel P., Chan, Robert Keith C., Baldovino, Renann G.
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Published: Animo Repository 2019
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Online Access:https://animorepository.dlsu.edu.ph/faculty_research/1201
https://animorepository.dlsu.edu.ph/context/faculty_research/article/2200/type/native/viewcontent
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Institution: De La Salle University
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spelling oai:animorepository.dlsu.edu.ph:faculty_research-22002021-05-19T08:14:46Z Implementation of a real-time appearance-based mapping in a fully autonomous urban search robot Siy, Joshua Samuel P. Chan, Robert Keith C. Baldovino, Renann G. The paper describes the findings of using a real time 3d mapping program, the real-time appearance-based mapping (RTAB-Map) used for a certain project. Coming from a designed wirelessly controlled mobile robotic platform capable of navigating an unknown environment, creating a 3D reconstruction of said environment, while detecting human sources it could find while performing real time 3d reconstruction of the given environment. The purpose of the project is to assist rescue operatives by providing computer generated model of the environment and allow rescue teams to analyze and learn the general layout of the area without being expendable to following hazards from the unknown environments as well as identifying the presence of humans and damage done and possible effects of hazardous reaction. Giving the team to search and route giving priority to saving as much survivors possible. The project was done by using a mobile platform and an RGBD camera, through autonomous navigation or manual control, to generate a graphical representation of the traversed area of the mobile platform and running a face detection algorithm which could alarm operators by audio cue or sound from the video. Upon examination of the results, it was found that the fabricated platform is, indeed, capable of exploring an unknown area, developing a close approximation of the area using a 3D map, detecting faces scattered throughout the area, all while performing wirelessly, separate from the viewing terminal despite its limitations. This research shows the potential that robots possess in assisting rescue operations. © 2018 IEEE. 2019-03-12T07:00:00Z text text/html https://animorepository.dlsu.edu.ph/faculty_research/1201 https://animorepository.dlsu.edu.ph/context/faculty_research/article/2200/type/native/viewcontent Faculty Research Work Animo Repository Three-dimensional modeling Robots in search and rescue operations Software Engineering
institution De La Salle University
building De La Salle University Library
continent Asia
country Philippines
Philippines
content_provider De La Salle University Library
collection DLSU Institutional Repository
topic Three-dimensional modeling
Robots in search and rescue operations
Software Engineering
spellingShingle Three-dimensional modeling
Robots in search and rescue operations
Software Engineering
Siy, Joshua Samuel P.
Chan, Robert Keith C.
Baldovino, Renann G.
Implementation of a real-time appearance-based mapping in a fully autonomous urban search robot
description The paper describes the findings of using a real time 3d mapping program, the real-time appearance-based mapping (RTAB-Map) used for a certain project. Coming from a designed wirelessly controlled mobile robotic platform capable of navigating an unknown environment, creating a 3D reconstruction of said environment, while detecting human sources it could find while performing real time 3d reconstruction of the given environment. The purpose of the project is to assist rescue operatives by providing computer generated model of the environment and allow rescue teams to analyze and learn the general layout of the area without being expendable to following hazards from the unknown environments as well as identifying the presence of humans and damage done and possible effects of hazardous reaction. Giving the team to search and route giving priority to saving as much survivors possible. The project was done by using a mobile platform and an RGBD camera, through autonomous navigation or manual control, to generate a graphical representation of the traversed area of the mobile platform and running a face detection algorithm which could alarm operators by audio cue or sound from the video. Upon examination of the results, it was found that the fabricated platform is, indeed, capable of exploring an unknown area, developing a close approximation of the area using a 3D map, detecting faces scattered throughout the area, all while performing wirelessly, separate from the viewing terminal despite its limitations. This research shows the potential that robots possess in assisting rescue operations. © 2018 IEEE.
format text
author Siy, Joshua Samuel P.
Chan, Robert Keith C.
Baldovino, Renann G.
author_facet Siy, Joshua Samuel P.
Chan, Robert Keith C.
Baldovino, Renann G.
author_sort Siy, Joshua Samuel P.
title Implementation of a real-time appearance-based mapping in a fully autonomous urban search robot
title_short Implementation of a real-time appearance-based mapping in a fully autonomous urban search robot
title_full Implementation of a real-time appearance-based mapping in a fully autonomous urban search robot
title_fullStr Implementation of a real-time appearance-based mapping in a fully autonomous urban search robot
title_full_unstemmed Implementation of a real-time appearance-based mapping in a fully autonomous urban search robot
title_sort implementation of a real-time appearance-based mapping in a fully autonomous urban search robot
publisher Animo Repository
publishDate 2019
url https://animorepository.dlsu.edu.ph/faculty_research/1201
https://animorepository.dlsu.edu.ph/context/faculty_research/article/2200/type/native/viewcontent
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