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STeAM

STeAM. Sensor Tracking and Mapping Carlos Sánchez, Simone Ceriani , Pierluigi Taddei , Erik Wolfart , Vítor Sequeira. Introduction. Who we are? European Commission Joint Research Centre ( JRC ) Institute for Transuranium Elements (ITU) What we do? Nuclear security

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STeAM

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  1. STeAM Sensor Tracking and Mapping Carlos Sánchez, Simone Ceriani, PierluigiTaddei, Erik Wolfart, VítorSequeira

  2. Introduction • Who we are? • European Commission • Joint Research Centre (JRC) • Institute for Transuranium Elements (ITU) • What we do? • Nuclear security • Facility verification • How we do it? • 3D laser scanning • Registration and change detection.

  3. Overview Setupday Evaluationday

  4. 3D mapping

  5. Pre-processing: NavigableSpace

  6. Pre-processing: Descriptor generation

  7. Online localization Velodyne HDL-32 • 40° x 360° FoV • 32 lines • ~10 Hz

  8. Global localization

  9. Pose Tracking

  10. Live demo Anyquestions?

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