Novel compression algorithm based on sparse sampling of 3-D laser range scans
Author
Dobrucali, O.
Barshan, B.
Date
2013Source Title
Computer Journal
Print ISSN
0010-4620
Publisher
Oxford University Press
Volume
56
Issue
7
Pages
852 - 870
Language
English
Type
ArticleItem Usage Stats
70
views
views
59
downloads
downloads
Metadata
Show full item recordAbstract
Three-dimensional models of environments can be very useful and are commonly employed in areas such as robotics, art and architecture, facility management, water management, environmental/industrial/urban planning and documentation. A 3-D model is typically composed of a large number of measurements. When 3-D models of environments need to be transmitted or stored, they should be compressed efficiently to use the capacity of the communication channel or the storage medium effectively. We propose a novel compression technique based on compressive sampling applied to sparse representations of 3-D laser range measurements. The main issue here is finding highly sparse representations of the range measurements, since they do not have such representations in common domains, such as the frequency domain. To solve this problem, we develop a new algorithm to generate sparse innovations between consecutive range measurements acquired while the sensor moves. We compare the sparsity of our innovations with others generated by estimation and filtering. Furthermore, we compare the compression performance of our lossy compression method with widely used lossless and lossy compression techniques. The proposed method offers a small compression ratio and provides a reasonable compromise between the reconstruction error and processing time. © 2012 The Author 2012. Published by Oxford University Press on behalf of The British Computer Society. All rights reserved.
Keywords
3-D laser range measurement3-D modeling
3-D mapping
Compression algorithms
Intelligent sensors
Laser range finders
Laser range measurements
Robot sensing system
Sensor systems
Algorithms
Compressed sensing
Compression ratio (machinery)
Data compression
Office buildings
Robot programming
Sensors
Three dimensional computer graphics
Water management
Three dimensional
Permalink
http://hdl.handle.net/11693/20908Published Version (Please cite this version)
http://dx.doi.org/10.1093/comjnl/bxs050Collections
Related items
Showing items related by title, author, creator and subject.
-
A compression method based on compressive sampling for 3-D laser range scans of indoor environments
Dobrucalı, Oğuzcan; Barshan, Billur (Springer, Dordrecht, 2010)When 3-D models of environments need to be transmitted or stored, they should be compressed efficiently to increase the capacity of the communication channel or the storage medium. We propose a novel compression technique ... -
Content-based retrieval of historical Ottoman documents stored as textual images
Şaykol, E.; Sinop, A. K.; Güdükbay U.; Ulusoy, Ö.; Çetin, A. E. (IEEE, 2004)There is an accelerating demand to access the visual content of documents stored in historical and cultural archives. Availability of electronic imaging tools and effective image processing techniques makes it feasible to ... -
Discriminative fine-grained mixing for adaptive compression of data streams
Gedik, B. (Institute of Electrical and Electronics Engineers, 2014)This paper introduces an adaptive compression algorithm for transfer of data streams across operators in stream processing systems. The algorithm is adaptive in the sense that it can adjust the amount of compression applied ...