论文标题
Hololens地图是您的工作区：通过头部安装的显示和增强现实的机器人单元的快速映射和设置
What the HoloLens Maps Is Your Workspace: Fast Mapping and Set-up of Robot Cells via Head Mounted Displays and Augmented Reality
论文作者
论文摘要
建模和映射机器人工作单元的经典方法是耗时，昂贵的，并且涉及专家知识。我们使用具有自定位和映射功能的现代头部安装显示器（HMD）提出了一种新颖的映射和细胞设置方法。我们利用这些功能来创建环境的点云并构建OctOmap-机器人工作空间的Voxel占用网格表示，以进行路径计划。通过使用增强现实（AR）交互，用户可以编辑创建的OCTOMAP并添加安全区域。我们对HoloLens的深度感测功能和结果点云的质量进行全面测试。高端激光扫描仪用于评估点云质量的基础真相。还测试了OCTOMAP中假阳性和假阴性体素的量。
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.
