Compressing ROS Sensor and Geometry Messages with Draco
Autor(en): | Wiemann, T. Igelbrink, F. Putz, S. Piening, M.K. Schupp, S. Hinderink, S. Vana, J. Hertzberg, J. |
Stichwörter: | Bandwidth; Bandwidth compression; Remote control; Robotics, 3-D environments; Available bandwidth; Compression rates; Geometry compression; In-depth analysis; Prototypical implementation; Remote-controlled robots; Sensor technologies, Geometry | Erscheinungsdatum: | 2019 | Herausgeber: | Institute of Electrical and Electronics Engineers Inc. | Journal: | 2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019 | Startseite: | 243 | Seitenende: | 248 | Zusammenfassung: | Current development in sensor technology allows to capture highly detailed geometric 3D environment models fast and online with laser scanners or RGB-D cameras. However, in most rescue and service scenarios, the available bandwidth between operator and controlled robots is limited. In this paper, we integrate Google's geometry compression library Draco into ROS to reduce the required bandwidth when sending geometry data from a remote-controlled robot to a RViz instance running on the operator's computer. Besides a prototypical implementation, we present an in-depth analysis of the achievable compression rates, accuracy and resulting latency when using Draco for this purpose. © 2019 IEEE. |
Beschreibung: | Conference of 2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019 ; Conference Date: 2 September 2019 Through 4 September 2019; Conference Code:152250 |
ISBN: | 9781728107783 | DOI: | 10.1109/SSRR.2019.8848965 | Externe URL: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-85073442002&doi=10.1109%2fSSRR.2019.8848965&partnerID=40&md5=f25b9d389236abc600563cb99f0deb84 |
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geprüft am 01.06.2024