CAD2SLAM: Adaptive Projection Between CAD Blueprints and SLAM Maps
Year: 2024
Type: article
Abstract: Robotic mobile platforms are key building blocks for numerous applications and cooperation between robots and humans is a key aspect to enhance productivity and reduce labor cost. To operate safely, robots typically rely on a custom map of the environment that depends on the sensor configuration of the platform. In contrast, blueprints stand as an abstract representation of the environment. The use of both CAD and SLAM maps allows robots to collaborate using the blueprint as a common language, while also easing the control for non-robotics experts. In this work we present an adaptive system to project a 2D pose in the blueprint to the SLAM map and vice-versa. Previous work in the literature aims at morphing a SLAM map to a previously available map. In contrast,CAD2SLAMdoes not alter the internal map representation used by the SLAM and localization algorithms running on the robot, preserving its original properties. We believe that our system is beneficial for the control and supervision of multiple heterogeneous robotic platforms that are monitored and controlled through the CAD map. Finally, we present a set of experiments that support our claims as well as open-source implementation.
Institution: Universidad de León
Language: English
Subfield: Aerospace Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: hybrid
Estimated APC paid: $2,495
OpenAlex ID: W4405811802