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This paper presents methodologies to accelerate the registration of 3D point cloud segments by using hue data from the associated imagery. The proposed variant of the Iterative Closest Point (ICP) algorithm combines both normalized point range data and weighted hue value calculated from RGB data of an image registered 3D point cloud. A k-d tree based(More)
The development of a relatively low cost mobile 3D mapping robot prototype named ROAMS (Remotely Operated and Autonomous Mappings Systems) which enables rapid generation of high resolution 3D maps of indoor/outdoor environments is presented. The Robotic system generates 3D maps using a video registered Lidar scanning system integrated with a multiple degree(More)
In this paper, the concept of replacing the standard wheel, which is used by most ground vehicles today, by a spherical ball drive system is explored. The aim is to develop a practical and agile omnidirectional mobility platform which can especially be useful for applications related to mobile ground robotics. The paper discusses some of the advantages and(More)
The development of a peer-to-peer virtual instrumentation system for remote acquisition, analysis and transmission of data on low bandwidth networks is described. The objective of this system is to collect high frequency/high bandwidth data from multiple sensors placed at remote locations and adaptively adjust the resolution of this data so that it can be(More)
Micro/nanoscale initiators can enhance the pressure output and reduce the required voltage input for ignition because micro/nano wires have a large surface area and high electrical and thermal conductivities. We investigated electrothermal behavior of Cu and Au microwires with diameters in the range of 25 ~ 250 μm. Microwires with smaller diameter ignited(More)
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