Autonomous 3D Mapping for Virtual-Reality Applications

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Presentation transcript:

Autonomous 3D Mapping for Virtual-Reality Applications Shreya Udupa NASA Space Grant 2017 Symposium

Objective Can we develop a robotic platform to generate comprehensive 3D maps of an indoor space? Applications: Extreme environment mapping Disaster area mapping VR gaming mapping

Background: SLAM SLAM refers to the unique problem of Simultaneous Localization and Mapping

Robotic Platform Depth Camera Servo Motors Microcontroller Roomba

Map Building: RTAB-MAP Software for compiling point clouds from a depth camera Runs on ROS (Robotic Operating Software) Close-loop detection Can run on any operating system including Raspberry-Pi

Autonomous Exploration Robotic implementation of RTAB-MAP Addendum to initial objective: Can the robot autonomously explore its environment and build a better map? Mesh-vacancy localization

Resulting Maps Implemented on Oculus Rift

Acknowledgements I would like to thank Dr. Artemiadis and all my friends at the HORC lab for their help in developing this technology! Special thanks to Ryian Hunter, Varun Nalam, Bryan Whitsell, Tyler McDaniel, George Karavas, and Chuong Nguyen

Questions?