NDLI: Accurate 3D mapping and immersive visualization for Search and Rescue

Content Provider	IEEE Xplore Digital Library
Author	Musialik, P. Majek, K. Majek, P. Pelka, M. Bedkowski, J. Maslowski, A. Typiak, A.
Copyright Year	2015
Description	Author affiliation: Inst. of Math. Machines, Warsaw, Poland (Musialik, P.; Majek, K.; Majek, P.; Pelka, M.; Bedkowski, J.; Maslowski, A.) \|\| Mil. Univ. of Technol., Warsaw, Poland (Typiak, A.)
Abstract	This paper concentrates on the topic of gathering, processing and presenting 3D data for use in Search and Rescue operations. The data are gathered by unmanned ground platforms, in form of 3D point clouds. The clouds are matched and transformed into a consistent, highly accurate 3D model. The paper describes the pipeline for such matching based on Iterative Closest Point algorithm supported by loop closing done with LUM method. The pipeline was implemented for parallel computation with Nvidia CUDA, which leads to higher matching accuracy and lower computation time. An analysis of performance for multiple GPUs is presented. The second problem discussed in the paper is immersive visualization of 3d data for search and rescue personnel. Five strategies are discussed: plain 3D point cloud, hypsometry, normal vectors, space descriptors and an approach based on light simulation through the use of NVIDIA OptiX Ray Tracing Engine. The results from each strategy were shown to end users for validation. The paper discusses the feedback given. The results of the research are used in the development of a support module for ICARUS project.
Starting Page	153
Ending Page	158
File Size	1997524
Page Count	6
File Format	PDF
e-ISBN	9781479970438
DOI	10.1109/RoMoCo.2015.7219728
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-06
Publisher Place	Poland
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Three-dimensional displays Data visualization Graphics processing units Image color analysis Computational modeling Solid modeling Pipelines
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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