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http://dx.doi.org/10.5302/J.ICROS.2013.13.8012

Real-time Polygon Generation and Texture Mapping for Tele-operation using 3D Point Cloud Data  

Jang, Ga-Ram (Korea Institute of Industrial Technology (KITECH))
Shin, Yong-Deuk (Korea Institute of Industrial Technology (KITECH))
Yoon, Jae-Shik (University of Science and Technology (UST))
Park, Jae-Han (Korea Institute of Industrial Technology (KITECH))
Bae, Ji-Hun (Korea Institute of Industrial Technology (KITECH))
Lee, Young-Soo (Korea Institute of Industrial Technology (KITECH))
Baeg, Moon-Hong (Korea Institute of Industrial Technology (KITECH))
Publication Information
Journal of Institute of Control, Robotics and Systems / v.19, no.10, 2013 , pp. 928-935 More about this Journal
Abstract
In this paper, real-time polygon generation algorithm of 3D point cloud data and texture mapping for tele-operation is proposed. In a tele-operation, it is essential to provide more highly realistic visual information to a tele-operator. By using 3D point cloud data, the tele-operator can observe the working environment from various view point with a reconstructed 3D environment. However, there are huge empty space in 3D point cloud data, since there is no environmental information among the points. This empty space is not suitable for an environmental information. Therefore, real-time polygon generation algorithm of 3D point cloud data and texture mapping is presented to provide more highly realistic visual information to the tele-operator. The 3D environment reconstructed from the 3D point cloud data with texture mapped polygons is the crucial part of the tele-operation.
Keywords
real-time polygon generation; texture mapping; 3D point cloud data; tele-operation;
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