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3D reconstruction framework for multiple remote robots on cloud system
Phuong Minh Chu3; Seoungjae Cho3; Simon Fong2; Yong Woon Park1; Kyungeun Cho3
2017-04-14
Source PublicationSymmetry
ISSN2073-8994
Volume9Issue:4
Abstract

This paper proposes a cloud-based framework that optimizes the three-dimensional (3D) reconstruction of multiple types of sensor data captured from multiple remote robots. A working environment using multiple remote robots requires massive amounts of data processing in real-time, which cannot be achieved using a single computer. In the proposed framework, reconstruction is carried out in cloud-based servers via distributed data processing. Consequently, users do not need to consider computing resources even when utilizing multiple remote robots. The sensors' bulk data are transferred to a master server that divides the data and allocates the processing to a set of slave servers. Thus, the segmentation and reconstruction tasks are implemented in the slave servers. The reconstructed 3D space is created by fusing all the results in a visualization server, and the results are saved in a database that users can access and visualize in real-time. The results of the experiments conducted verify that the proposed system is capable of providing real-time 3D scenes of the surroundings of remote robots.

Keyword3d Reconstruction Ground Segmentation Cloud System Point Cloud
DOI10.3390/sym9040055
URLView the original
Indexed BySCIE
Language英語English
WOS Research AreaScience & Technology - Other Topics
WOS SubjectMultidisciplinary Sciences
WOS IDWOS:000401810100009
PublisherMDPI, ST ALBAN-ANLAGE 66, CH-4052 BASEL, SWITZERLAND
Fulltext Access
Citation statistics
Cited Times [WOS]:8   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionDEPARTMENT OF COMPUTER AND INFORMATION SCIENCE
Corresponding AuthorKyungeun Cho
Affiliation1.Department of Multimedia Engineering, Dongguk University-Seoul, 30, Pildongro-1-gil, Jung-gu, Seoul 04620, Korea
2.Department of Computer and Information Science, University of Macau, Avenida da Universidade, Taipa, Macau SAR 3000, China
3.Institute of Defense Advanced Technology Research, Agency for Defense Development, P.O. Box 35, Yuseong, Daejeon 34186, Korea
Recommended Citation
GB/T 7714
Phuong Minh Chu,Seoungjae Cho,Simon Fong,et al. 3D reconstruction framework for multiple remote robots on cloud system[J]. Symmetry,2017,9(4).
APA Phuong Minh Chu,Seoungjae Cho,Simon Fong,Yong Woon Park,&Kyungeun Cho.(2017).3D reconstruction framework for multiple remote robots on cloud system.Symmetry,9(4).
MLA Phuong Minh Chu,et al."3D reconstruction framework for multiple remote robots on cloud system".Symmetry 9.4(2017).
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