1. ERDC Knowledge Core
  2. Engineer Research and Development Center (ERDC)
  3. Geospatial Research Laboratory (GRL) (formerly Topographic Engineering Center (TEC))
  4. Publication
  5. Technical Report
Please use this identifier to cite or link to this item: https://hdl.handle.net/11681/35878
Full metadata record
DC FieldValueLanguage
dc.contributor.authorGlaspell, Garry P.-
dc.contributor.authorLessard, Steven R.-
dc.contributor.authorChristie, Benjamin A.-
dc.contributor.authorJannak-Huang, Kyle-
dc.contributor.authorWilde, Noah C.-
dc.contributor.authorHe, Weiyu-
dc.contributor.authorEnnasr, Osama.-
dc.contributor.authorPham, Daniel T.-
dc.contributor.authorHasemann, Daniel B.-
dc.contributor.authorDevine, Philip M.-
dc.contributor.authorKiene, John-
dc.date.accessioned2020-03-18T14:03:26Z-
dc.date.available2020-03-18T14:03:26Z-
dc.date.issued2020-03-
dc.identifier.govdocERDC/GRL TR-20-6-
dc.identifier.urihttp://hdl.handle.net/11681/35878-
dc.identifier.urihttp://dx.doi.org/10.21079/11681/35878-
dc.descriptionTechnical Report-
dc.description.abstractSection 3 of the FY15 Force 2025 Maneuvers Annual Report indicates that in Dense Urban Areas (DUA), specifically in a subsurface, surface, or super-surface structure, the ability to identify threats will be diminished. Most commercially available LIght Detection And Ranging (LIDAR) systems are specifically designed for high-resolution aerial imaging and mapping applications. As a result, they tend to be large, heavy, power-hungry, data bandwidth intensive, and expensive. They also employ lasers that are not typically eye-safe, which limits their overall effectiveness in subterranean and the interiors of subsurface or super-surface structures. However, due to recent advances in the automotive industry, there are new generations of Size, Weight, Power, and Cost (SWaP-C) sensors that are eye-safe, making them suitable for use indoors and in subterranean environments. While these tradeoffs limit their effective use to hundreds of meters (compared to kilometers for their more expensive counterparts), they are ideal candidates for use in subterranean and building interiors. While cameras fill this niche to some extent, the volumetric calculations provided by these sensors provide additional intelligence to shape the security of the environment and offer more precision when maneuvering troops. These sensors would provide the warfighter with situational understanding in previously inaccessible locations. Therefore, to aid in the Army’s need to obtain and maintain situational understanding in DUAs, the authors propose utilizing low size, weight, power, and cost (SWaP-C) sensors, on a robot platform, for surveying and mapping underground structures and building interiors. Rapid/near real-time data processing is possible by utilizing open-source software and commercial off the shelf (COTS) components. Using the preferred sensor payload autonomously was also explored.en_US
dc.description.sponsorshipUnited States. Army. Corps of Engineers.en_US
dc.description.tableofcontentsAbstract .......................................................................................................................................................... ii Figures ............................................................................................................................................................ iv Preface ............................................................................................................................................................. v 1 Introduction ............................................................................................................................................ 1 1.1 Background .................................................................................................................... 1 1.2 Objective ........................................................................................................................ 2 1.3 Approach ........................................................................................................................ 2 2 Sensors.................................................................................................................................................... 5 3 SLAM Modules ..................................................................................................................................... 14 4 Sensor Fusion ...................................................................................................................................... 23 5 Virtualization ........................................................................................................................................ 34 6 Wireless Ranging ................................................................................................................................ 38 7 Automation ........................................................................................................................................... 45 8 Future Advancements ........................................................................................................................ 57 9 Conclusion ............................................................................................................................................ 59 References ................................................................................................................................................... 61 Appendix A: Sensor List ............................................................................................................................. 63 Appendix B: Setup Procedure for Astra and D435 ............................................................................... 69 Appendix C: Installation of SLAM modules ........................................................................................... 75 Appendix D: RTABMAP Launch files .................................................................................................... 128 Appendix E: POZYX .................................................................................................................................. 163 Appendix F: Automation ......................................................................................................................... 197 Unit Conversion Factors ......................................................................................................................... 208 Acronyms ................................................................................................................................................... 209 Report Documentation Page-
dc.format.extent218 pages / 10.25 Mb-
dc.format.mediumPDF-
dc.language.isoen_USen_US
dc.publisherGeospatial Research Laboratory (U.S.)en_US
dc.publisherEngineer Research and Development Center (U.S.)-
dc.relation.ispartofseriesTechnical Report (Engineer Research and Development Center (U.S.)) ; no. ERDC/GRL TR-20-6-
dc.rightsApproved for Public Release; Distribution is Unlimited-
dc.sourceThis Digital Resource was created in Microsoft Word and Adobe Acrobat-
dc.subjectMilitary surveillanceen_US
dc.subjectDetectorsen_US
dc.subjectMilitary robotsen_US
dc.subjectCities and townsen_US
dc.subjectUnderground construction--Military surveillanceen_US
dc.subjectBuildings--Military surveillanceen_US
dc.titleOptimized low Size, Weight, Power and Cost (SWaP-C) payload for mapping interiors and subterranean on an Unmanned Ground Vehicleen_US
dc.typeReporten_US
Appears in Collections:Technical Report

Files in This Item:
File Description SizeFormat 
ERDC-GRL TR-20-6.pdf10.25 MBAdobe PDFThumbnail
View/Open
Show simple item record