Dissemination workshop at IFAC SYROCO2012, Dubrovnik, Croatia, September 5-7, 2012

A ThermalMapper dissemination workshop was organized in the frame of the10th IFAC Symposium on Robot Control (SYROCO 2012) held on September5-7, 2012 in Dubrovnik, Croatia. The symposium was organized by the UNIZG-FER. The General Chair was Prof. Ivan Petrović, who is the leader of theUNIZG-FER team involved in the ThermalMapper project. There were about170 participants from 31 countries at the SYROCO 2012. ThermalMapperresults were disseminated to many of them.

Prof. Andreas Nüchter and Dorit Borrmann from the Jacobs UniversityBremen, Prof. Ivan Petrović, Dr. Marija Ðakulović and Ivan Maurović from theUniversity of Zagreb and Prof. Jasmin Velagić from the University of Sarajevoparticipated in the dissemination activities.

The dissemination was organized through the following means:

• oral presentation of the scientific papers at the SYROCO 2012 technicalprogram,

• project poster exhibition at the conference hall during the coffee breaks,and

• flyer distribution to the SYROCO 2012 participants.

As an oral part of the dissemination four papers describing the scientific re-sults of the ThermalMapper project were presented by the project participants:

1. Borrmann, Dorit; Nüchter, Andreas; Ðakulović, Marija; Maurović, Ivan;Petrović, Ivan; Osmanković, Dinko; Velagić, Jasmin. The Project Ther-malMapper - Thermal 3D Mapping of Indoor Environments forSaving Energy. - presented by Prof. Andreas Nüchter, project coordi-nator.

2. Borrmann, Dorit; Elseberg, Jan; Afzal, Hassan; Nüchter, Andreas. Mu-tual Calibration for 3D Thermal Mapping. - presented by DoritBorrmann.

3. Osmanković, Dinko; Velagić, Jasmin. Increasing the Precision of Re-constructed 3D Model of Indoor Robot Environment by Elimi-nation of Problematic Points. - presented by Prof. Jasmin Velagić,head of the ETF Sarajevo team.

4. Ðakulović, Marija; Čikeš, Mijo; Petrović, Ivan. Efficient InterpolatedPath Planning of Mobile Robots Based on Occupancy Grid Maps.- presented by Dr. Marija Ðakulović, member of the UNIZG-FER team.

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A booth with the ThermalMapper poster and flyers was placed at the con-ference hall and at least one of the project participants was at the booth duringeach coffee break giving information to interested SYROCO 2012 participants.More than 70 flyers were distributed.

(a) prof. Velagić presenting the paper (b) Dorit Borrmann presenting the paper

Figure 1: Oral presentations at SYROCO 2012

(a) Meeting of the ThermalMapper team atSYROCO (b) ThermalMapper poster

Figure 2: Team meeting and ThermalMapper poster

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2. Sensor Placement Planning and RobotNavigation (UNIZG-FER Zagreb, Croatia)Croatia)

ThermalMapper – Thermal 3D Modeling of IndoorEnvironments for Saving Energy

Andreas Nüchter1, Ivan Petrović2, Jasmin Velagić3www.faculty.jacobs-university.de/anuechter/thermalmapper.html

3. 3D Thermal Model Reconstruction andVisualization (ETF Sarajevo, BIH)

•Aim: Reconstruction of 3D mesh fromrecorded point cloud (discrete tocontinual data set)•Tested algorithms:

− Delaunay triangulationConvex hullOnly for closed surfaces

− Marching cubesIso-surfaces, iso-valuesGaussian splatter changes geometry

− Scalar field representationAssigning every point/cell a scalarvalue – temperatureClosest point transformation/locator(subsampling problem)

•Visualization with VTK – Software systemfor 3D computer image processing, andvisualization www.vtk.org

3DTherm

alModelReconstruction

Registering

andCom

bining

SensoryData

• Coordinator: Andreas Nüchter, JACOBS University Bremen

• Partners: Ivan Petrović, UNIZG-FER Zagreb

Jasmin Velagić, ETF Sarajevo

• Funding Volume: 148.466 €

• Motivation: The availability of precise thermal 3D modelswill enable inspections of heat and air flow. The gained informationcan be used to modify existing buildings to reach the estimatedenergy savings.

• Project goal: Developing a fully automated approach for thermal 3Dmapping by a mobile robot

SensorPlacementPlanning

•Next best view problemExploration strategy in two stages• 2D information based exploration:

− Vectorization of laser data –polygonal 2D map building

− Selecting the next-best-view positionaccording to built 2D map

− Room extraction algorithm• 3D information based exploration:

− Voxel representation of the 3D map− selecting the next-best-view positioninside the room according to thebuilt 3D map

Exploring room by room

•Aim: Find scanning positions and robot motioncontrol to acquire complete model of indoorenvironment

1. Registering andcombining sensorydata (JACOBSUniv. Bremen)

3. 3D thermal modelreconstruction andvisualization (ETF

Sarajevo)

2. Sensor placementplanning and robotnavigation (UNIZG-

FER Zagreb)

• Aim: Registering and combining thedata representing the same points inthe real world captured by differentsensors• Automatic mutual calibration

− Intrinsic calibration of thermal andoptical camera

− Extrinsic calibration of camerasand laser scanner

− 3D to 2D projection and colormapping – coloring the point cloudaccording to the images

• Challenges:− Projection

- different field of view per sensor- different areas of occlusion

− Low thermal camera resolution(120x160)→ more laser pointsbelong to the same pixel

• Solution: clustering algorithm• Scan registration – laser scansacquired at different positions areregistered into one common coordinatesystem using 6D SLAMhttp://threedtk.de

1. Registering and combining sensor data(JACOBS University Bremen, Germany)

Delaunay triangulation

Marching cubes

Project Fact Sheet

http://act.rasip.fer.hr/groups_amor.php

Scalar field representation

Robot pose andenvironment global map

Acting(locomotion)

PathFollowingandObstacleNegotiation

Actuatorcommands

Motioncontrol

Exploration(next-best-view)

SensingInformationExtraction

Rawdata

Perception

Localization&MapBuilding

Environmentmodelandlocalmap

Knowledge,Database

Real

Wor

ldEn

viro

nmen

t

ControlCycle

PathPlanning Path

Goal pose

Informationlookup

Suported by: SEE-ERA.NET PLUS / No. ERA 14/01http://plus.see-era.net/pjc/fundedprojects14.html

Figure 3: Dissemination flyer of the ThermalMapper poster

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