Cloud-Based Collaborative 3D Mapping in Real-Time With Low-Cost Robots

IEEE Transactions on Automation Science and Engineering

Volumn 12, Issue 2, 2015, Pages 423-431

  Mohanarajah, Gajamohan ^a   Usenko, Vladyslav ^b   Singh, Mayank ^c   D'Andrea, Raffaello ^a   Waibel, Markus ^a  

^a ETH ZURICH   (Switzerland)

^b TECHNICAL UNIVERSITY OF MUNICH   (Germany)

^c CISCO SYSTEMS   (United States)

Author keywords

Cloud robotics; cloud based mapping; dense visual odometry; platform as a Service

Indexed keywords

ALGORITHMS; DIGITAL STORAGE; MAPPING; NETWORK ARCHITECTURE; PLATFORM AS A SERVICE (PAAS); ROBOTICS; VISION;

CLOUD BASED COLLABORATIVE; CLOUD ROBOTICS; CLOUD-BASED; LOCALIZATION ACCURACY; PARALLEL OPTIMIZATION; PROCESSING SPEED; QUANTITATIVE EVALUATION; VISUAL ODOMETRY;

ROBOTS;

EID: 84927637191     PISSN: 15455955     EISSN: None     Source Type: Journal    
DOI: 10.1109/TASE.2015.2408456     Document Type: Article

References (31)

1. P. Mell and T. Grance, "The NIST definition of cloud computing,"National Institute of Standards and Technology, Special Pub. 800- 145. Gaithersburg, MD, USA, 2014. [Online]. Available: http://csrc.nist.gov/publications/nistpubs/800-145/ SP800-145.pdf
2. G. Mohanarajah, D. Hunziker, M. Waibel, and R. D'Andrea, "Rapyuta: A cloud robotics platform," IEEE Trans. Autom. Sci. Eng., vol. 12, no. 2, pp. 481-493, Apr. 2015.
3. M. Waibel, M. Beetz, J. Civera, R. D'Andrea, J. Elfring, D. Galvez-Lopez, K. Haussermann, R. Janssen, J. Montiel, A. Perzylo, B. Schiessle, M. Tenorth, O. Zweigle, and R. van de Molengraft, "RoboEarth," IEEE Robot. Autom. Mag., IEEE, vol. 18, no. 2, pp. 69-82, Jun. 2011.
4. R. Arumugam, V. R. Enti, B. Liu, X. Wu, K. Baskaran, F. K. Foong, A. S. Kumar, D. M. Kang, and W. K. Goh, "Davinci: A cloud computing framework for service robots," in Proc. IEEE Int. Conf. Robot. Autom. (ICRA), May 2010, pp. 3084-3089.
5. K. Kamei, S. Nishio, N. Hagita, and M. Sato, "Cloud Networked Robotics," IEEE Network, vol. 26, no. 3, pp. 28-34, May-Jun. 2012.
6. B. Kehoe, A. Matsukawa, S. Candido, J. Kuffner, and K. Goldberg, "Cloud-based robot grasping with the google object recognition engine,"in Proc. IEEE Int. Conf. Robot. Autom. (ICRA), May 2013, pp. 4263-4270.
7. B. Kehoe, D. Berenson, and K. Goldberg, "Toward cloud-based grasping with uncertainty in shape: Estimating lower bounds on achieving force closure with zero-slip push grasps," in Proc. IEEE Int. Conf. Robot. Autom. (ICRA), May 2012, pp. 576-583.
8. S. Thrun, W. Burgard, and D. Fox, Probabilistic Robotics (Intelligent Robotics and Autonomous Agents). Cambridge, MA, USA: MIT Press, 2005.
9. K. Shvachko, H. Kuang, S. Radia, and R. Chansler, "The Hadoop distributed file system," in Proc. IEEE Sym. Mass Storage Syst. Technol. (MSST), May 2010, pp. 1-10, IEEE.
10. M. Quigley, K. Conley, B. P. Gerkey, J. Faust, T. Foote, J. Leibs, R. Wheeler, and A. Y. Ng, "ROS: An open-source Robot Operating System," in Proc. ICRA Workshop on Open Source Softw., May 2009.
11. L. Riazuelo, J. Civera, and J. M. M. Montiel, "C2TAM: A cloud framework for cooperative tracking and mapping," Robo. Auton. Syst., 2013, accepted for publication.
12. G. Klein and D. Murray, "Parallel tracking and mapping on a camera phone," in Proc. IEEE Int. Symp. Mixed and Augmented Reality, Oct. 2009, pp. 83-86.
13. R. Goransson, A. Aydemir, and P. Jensfelt, "Kinect@Home: Crowd-sourced RGB-D data," in Proc. IROS Workshop on Cloud Robot., 201.3 [Online]. Available: http://www.kinectathome.com/
14. J. Chen, D. Bautembach, and S. Izadi, "Scalable real-time volumetric surface reconstruction," ACM Trans. Graph., vol. 32, no. 4, pp. 113:1-113:16, Jul. 2013.
15. Matterport, 2013. [Online]. Available: http://matterport.com/
16. A. Howard, S. S. Gaurav, and M. J. Maja, "Multi-robot mapping using manifold representations," in Proc. IEEE Int. Conf. Robot. Autom. (ICRA), May 2004, vol. 4, pp. 4198-4203.
17. D. Zou and P. Tan, "CoSLAM: Collaborative visual slam in dynamic environments," IEEE Tran. Pattern Anal. Mach. Intell., vol. 35, no. 2, pp. 354-366, Feb. 2013.
18. J. A. Hesch, D. G. Kottas, S. L. Bowman, and S. I. Roumeliotis, "Camera-imu-based localization: Observability analysis and consistency improvement," Int. J. Robot. Res., vol. 33, no. 1, pp. 182-201, Jan. 2014.
19. Google Inc., "Project Tango," 2014. [Online]. Available: http: //www.google.com/atap/projecttango/
20. Amazon.com Inc., "Amazon elastic compute cloud," 2013. [Online]. Available: http://aws.amazon.com/ec2/am
21. F. Steinbrucker, J. Sturm, and D. Cremers, "Real-time visual odometry from dense RGB-D images," in Proc. ICCV Comput. Vision Workshop, Nov. 2011, pp. 719-722.
22. C. Kerl, J. Sturm, and D. Cremers, "Robust odometry estimation for RGB-D cameras," in Proc Int. Conf. Robot. Autom. (ICRA), May 2013, pp. 3748-3754.
23. T. Tykkala, C. Audras, and A. I. Comport, "Direct iterative closest point for real-time visual odometry," in Proc. ICCV Comput. Vision Workshop, Nov. 2011, pp. 2050-2056.
24. K. Madsen, H. B. Nielsen, and O. Tingleff, Methods For Non-Linear Least Squares Problems, 2nd ed. Lyngby, Denmark: Inform. Math. Modelling, Tech. Univ. Denmark (DTU), 2004. [Online]. Available: http://www2.imm.dtu.dk/pubdb/views/edoc download.php/3215/pdf/imm3215.pdf
25. J. Reinders, Intel Threading Building Blocks, 1st ed. Sebastopol, CA, USA: O'Reilly & Assoc., Inc., 2007.
26. S. Lovegrove and A. J. Davison, "Real-time spherical mosaicing using whole image alignment," in Proc. 11th Euro. Conf. Comput. Vision, Sep. 2010, pp. 73-86.
27. R. Kümmerle, G. Grisetti, H. Strasdat, K. Konolige, and W. Burgard, "g2o: A general framework for graph optimization," in Proc. IEEE Int. Conf. Robot. Autom. (ICRA), May 2011, pp. 3607-3613.
28. S. Agarwal and K. Mierle, "Ceres solver," 2014. [Online]. Available: http://code.google.com/p/ceres-solver/
29. R. A. Newcombe, A. J. Davison, S. Izadi, P. Kohli, O. Hilliges, J. Shotton, D. Molyneaux, S. Hodges, D. Kim, and A. Fitzgibbon, "Kinectfusion: Real-time dense surface mapping and tracking," in Proc. IEEE Int. Symp. Mixed Augmented Reality (ISMAR), Oct. 2011, pp. 127-136.
30. J. Sturm, N. Engelhard, F. Endres, W. Burgard, and D. Cremers, "A benchmark for the evaluation of RGB-D slam systems," in Proc. Int. Conf. Intell. Robot Syst. (IROS), Oct. 2012.
31. M. Cummins and P. Newman, "FAB-MAP: Probabilistic Localization and Mapping in the Space of Appearance," Int. J. Robot. Res., vol. 27, no. 6, pp. 647-665, 2008.