Visualización en tiempo real de datos de escáner LIDAR

Abstract

CONDITIONING OF PROJECT PUBLICATION. The project consists of the development of a mobile app and a server for the wireless control and monitoring of a three-dimensional scanning system. This allows for configuration and real-time sensor monitoring, replacing the use of command-line interfaces that limited field usability, and the prototype's commercial potential. A server was developed for the TS-7970 embedded computer using ROS 1 and Crow 1.2 in C++11. And a mobile application was developed using React Native. The implementation faced challenges due to high-level limitations in ROS and Crow, necessitating the development of alternative resource management solutions. Results demonstrated that by adjusting the transmission frequencies of the laser and camera, a latency of less than 200 ms and stable memory consumption between 150 and 170 Mb were achieved. In conclusion, the proposed architecture enables the integration between the mobile application and the ROS-based server, allowing real-time wireless monitoring and control of the three-dimensional scanning system, and improving field operability through reliable, low-latency data transmission Keywords: Embedded system, wireless communication, real-time monitoring, ROS