Investigation into the effects of transmission-channel fidelity loss in RGBD sensor data for SLAM

Abstract

-Simultaneous Location and Mapping (SLAM) is computationally expensive, and requires high-fidelity sensor data. This paper investigates the effects of transmission channel fidelity loss in Red-Green-Blue-Depth (RGBD) sensor data. A mobile robotic platform developed for Explosive Ordinance Disposal (EOD) is used, with a highly constrained data and video link to a base station which computes a SLAM solution. Experiments were conducted offline, using well known data-sets with ground truth data, and their results have been compared to determine the effect of fidelity loss under various multiplexing approaches with a constrained transmission channel.