Internship Notes Week3

Week3

Simulate LIDAR and RGBD with publishing ROS topic using gazebo

Reading and taking notes

Surface Reconstruction

From unorganized points or exploits the underlying structure of the acquired data

Reconstructing Parametric Surfaces

Constructing an Implicit Function

TSDF

Features

1. Using multiple measurement data to ensure the accuracy of the measurement and make the surface thinner
2. Build Signed Distance Function
3. Ignore the point far from surface

Important points

1. weighted signed function

2. space carving(mark the corresponding voxels as “empty” following the lines of sight back from the observed surface)

3. $$tsd{f}_i(x)=max(-1,min(1,\frac{sd{f}_i(x)}{t}))withsd{f}_i(x)=lase{r}_i(x)-dis{t}_i(x)$$

4. ensure the $$tsdf$$ near the surface is around 0 and value range from -1 to 1

5. let the weighted function falls to 0 when the point is far from the surface, and the distance when it falls to zero is typically based on the noise of laser scanner, that is why call it “truncated” compared to ESDF

6. divide the whole space into three parts, “empty”, “observed isosurface”, “unseen” and “holes to fill isosurface”

question1: to make the reconstruction more real, to fill the surface that haven’t been detected is crucial, but I don’t get the point how to do that.

question2: some really sharp surface like a drill may interfere the robustness of the whole algorithm, and how to maintain such robustness when encounter, let’s say, a drill?

Some Other Maps’ Structure

1. Occupancy Grid Map(dense)

2. Octo-map(sparse, structured)

3. Voxel Hashing

   1. Data Structure:

   Struct Voxel{
   	float sdf;
   	uchar colorRGB[3];
   	uchar weight;
   }