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      • Department of Electrical and Electronics Engineering
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      Novel compression algorithm based on sparse sampling of 3-D laser range scans

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      Author
      Dobrucali, O.
      Barshan, B.
      Date
      2013
      Source Title
      Computer Journal
      Print ISSN
      0010-4620
      Publisher
      Oxford University Press
      Volume
      56
      Issue
      7
      Pages
      852 - 870
      Language
      English
      Type
      Article
      Item Usage Stats
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      Abstract
      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 measurement
      3-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/11693/20908
      Published Version (Please cite this version)
      http://dx.doi.org/10.1093/comjnl/bxs050
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      • Department of Electrical and Electronics Engineering 3337

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