Efficient Continuous-Time SLAM for 3D Lidar-Based Online Mapping

Modern 3D laser-range scanners have a high data rate, making online simultaneous localization and mapping (SLAM) computationally challenging. Recursive state estimation techniques are efficient but commit to a state estimate immediately after a new scan is made, which may lead to misalignments of measurements. We present a 3D SLAM approach that allows for refining alignments during online mapping. Our method is based on efficient local mapping and a hierarchical optimization back-end. Measurements of a 3D laser scanner are aggregated in local multiresolution maps by means of surfel-based registration. The local maps are used in a multi-level graph for allocentric mapping and localization. In order to incorporate corrections when refining the alignment, the individual 3D scans in the local map are modeled as a sub-graph and graph optimization is performed to account for drift and misalignments in the local maps. Furthermore, in each sub-graph, a continuous-time representation of the sensor trajectory allows to correct measurements between scan poses. We evaluate our approach in multiple experiments by showing qualitative results. Furthermore, we quantify the map quality by an entropy-based measure.Comment: In: Proceedings of the International Conference on Robotics and Automation (ICRA) 201

FLAT2D: Fast localization from approximate transformation into 2D

Many autonomous vehicles require precise localization into a prior map in order to support planning and to leverage semantic information within those maps (e.g. that the right lane is a turn-only lane.) A popular approach in automotive systems is to use infrared intensity maps of the ground surface to localize, making them susceptible to failures when the surface is obscured by snow or when the road is repainted. An emerging alternative is to localize based on the 3D structure around the vehicle; these methods are robust to these types of changes, but the maps are costly both in terms of storage and the computational cost of matching. In this paper, we propose a fast method for localizing based on 3D structure around the vehicle using a 2D representation. This representation retains many of the advantages of "full" matching in 3D, but comes with dramatically lower space and computational requirements. We also introduce a variation of Graph-SLAM tailored to support localization, allowing us to make use of graph-based error-recovery techniques in our localization estimate. Finally, we present real-world localization results for both an indoor mobile robotic platform and an autonomous golf cart, demonstrating that autonomous vehicles do not need full 3D matching to accurately localize in the environment

Visualization and comparison of classical structures and quantum states of 4D maps

For generic 4D symplectic maps we propose the use of 3D phase-space slices which allow for the global visualization of the geometrical organization and coexistence of regular and chaotic motion. As an example we consider two coupled standard maps. The advantages of the 3D phase-space slices are presented in comparison to standard methods like 3D projections of orbits, the frequency analysis, and a chaos indicator. Quantum mechanically, the 3D phase-space slices allow for the first comparison of Husimi functions of eigenstates of 4D maps with classical phase space structures. This confirms the semi-classical eigenfunction hypothesis for 4D maps.Comment: For videos with rotated view of the 3D phase-space slices in high resolution see http://www.comp-phys.tu-dresden.de/supp

3D Textured Model Encryption via 3D Lu Chaotic Mapping

In the coming Virtual/Augmented Reality (VR/AR) era, 3D contents will be popularized just as images and videos today. The security and privacy of these 3D contents should be taken into consideration. 3D contents contain surface models and solid models. The surface models include point clouds, meshes and textured models. Previous work mainly focus on encryption of solid models, point clouds and meshes. This work focuses on the most complicated 3D textured model. We propose a 3D Lu chaotic mapping based encryption method of 3D textured model. We encrypt the vertexes, the polygons and the textures of 3D models separately using the 3D Lu chaotic mapping. Then the encrypted vertices, edges and texture maps are composited together to form the final encrypted 3D textured model. The experimental results reveal that our method can encrypt and decrypt 3D textured models correctly. In addition, our method can resistant several attacks such as brute-force attack and statistic attack.Comment: 13 pages, 7 figures, under review of SCI