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• W3029630109 abstract "Classical methods of modelling and mapping robot work cells are time consuming, expensive and involve expert knowledge. We present a novel approach to mapping and cell setup using modern Head Mounted Displays (HMDs) that possess self-localisation and mapping capabilities. We leveraged these capabilities to create a point cloud of the environment and build an OctoMap - a voxel occupancy grid representation of the robot's workspace for path planning. Through the use of Augmented Reality (AR) interactions, the user can edit the created Octomap and add security zones. We perform comprehensive tests of the HoloLens' depth sensing capabilities and the quality of the resultant point cloud. A high-end laser scanner is used to provide the ground truth for the evaluation of the point cloud quality. The amount of false-positive and false-negative voxels in the OctoMap are also tested." @default.
• W3029630109 created "2020-06-05" @default.
• W3029630109 creator A5075805786 @default.
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• W3029630109 date "2020-05-26" @default.
• W3029630109 modified "2023-09-27" @default.
• W3029630109 title "What the HoloLens Maps Is Your Workspace: Fast Mapping and Set-up of Robot Cells via Head Mounted Displays and Augmented Reality." @default.
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• W3029630109 hasPublicationYear "2020" @default.
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