Method for Transmission of Point Cloud and Tele-presence of Map Under Wireless and Low Bandwidth Condition

doi:10.3969/j.issn.1009-086x.2025.01.018

Abstract

Abstract:

Intelligent unmanned weapons and equipment are playing an increasingly vital role in modern warfare and have become essential for replacing and assisting soldiers in combat. In unmanned battlefields， rear commanders monitor the battlefield environment through communication. Given the limited bandwidth of military communication equipment， a method for real-time point cloud transmission and remote map presentation is proposed and implemented. The method first estimates the real-time pose using the FAST-LIO algorithm， then compresses the 3D point cloud （keyframe） using the Draco algorithm， and transmits the real-time pose and point cloud via Protobuf-UDP. Finally， the SC-PGO algorithm is used to optimize and generate the global map. This is the first engineering solution to achieve real-time point cloud compression and transmission based on the ROS platform. The experimental results demonstrate that the proposed method provides effective compression and stable transmission quality for real-time point clouds， addressing the challenges of point cloud transmission and remote map presentation under low-bandwidth wireless conditions， and enabling commanders to perceive the battlefield environment in real time.

Key words: remote map presentation, point cloud transmission, FAST-LIO, Draco, point cloud compression

摘要：

智能化无人武器装备在现代化作战中发挥日益重要的作用，已成为替代和辅助士兵作战的必要装备。在无人化战场中，后方指挥人员通过通信对战场环境保持关注。鉴于军用通信设备带宽有限，设计并实现了一种低带宽条件下的点云传输和地图远程呈现方法。方法通过FAST-LIO算法估计实时位姿，利用Draco算法对三维点云(关键帧)进行压缩，并基于Protobuf-UDP完成位姿和点云的实时传输，采用SC-PGO算法优化并产生全局地图，是首个基于ROS平台实现点云实时压缩和传输的工程。实验结果表明，所提方法对于实时点云表现出较好的压缩效果和稳定的传输质量，解决了无线低带宽条件下点云传输和地图远程呈现的问题，实现了指挥人员对战场环境的实时感知。

关键词: 地图远程呈现, 点云传输, FAST-LIO, Draco, 点云压缩

CLC Number:

E917

Xinyu LIU, Haiting SHEN, Rui GUO, Qin ZHANG. Method for Transmission of Point Cloud and Tele-presence of Map Under Wireless and Low Bandwidth Condition[J]. Modern Defense Technology, 2025, 53(1): 164-172.

刘欣宇, 申海艇, 郭睿, 张琴. 无线低带宽条件下点云传输和地图远程呈现方法[J]. 现代防御技术, 2025, 53(1): 164-172.

Figures/Tables 12

References 24

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RosBag（NCLT数据集）	2012-04-29	2012-06-15	2012-09-28	2013-01-10	NCLT
帧数	25 819	32 954	46 466	10 201	47 231
平均点云个数	6 009	7 271	6 543	5 789	6 284
压缩前平均传输时间/ms	3.13	3.84	3.31	2.76	3.25
压缩前平均传输带宽/（Kb·s^-1）	53.26	59.71	56.72	48.54	54.60
平均压缩时间/ms	0.31	0.39	0.35	0.28	0.32
压缩后平均传输时间/ms	2.92	3.64	3.31	2.61	3.17
平均解压缩时间/ms	0.16	0.24	0.19	0.12	0.17
压缩算法总时间/ms	3.39	4.27	3.85	3.01	3.58
压缩后平均传输带宽/（Kb·s^-1）	9.94	11.23	10.34	9.37	10.15

RosBag（NCLT数据集）	2012-04-29	2012-06-15	2012-09-28	2013-01-10	NCLT
帧数	25 819	32 954	46 466	10 201	47 231
平均点云个数	6 009	7 271	6 543	5 789	6 284
压缩前平均传输时间/ms	3.13	3.84	3.31	2.76	3.25
压缩前平均传输带宽/（Kb·s^-1）	53.26	59.71	56.72	48.54	54.60
平均压缩时间/ms	0.31	0.39	0.35	0.28	0.32
压缩后平均传输时间/ms	2.92	3.64	3.31	2.61	3.17
平均解压缩时间/ms	0.16	0.24	0.19	0.12	0.17
压缩算法总时间/ms	3.39	4.27	3.85	3.01	3.58
压缩后平均传输带宽/（Kb·s^-1）	9.94	11.23	10.34	9.37	10.15

RosBag	2012-04-29			2012-06-15			2012-09-28			2013-01-10			NCLT
指标	ET	DT	BR	ET	DT	BR	ET	DT	BR	ET	DT	BR	ET	DT	BR
G-PCC-octree	0.57	0.11	2.54	0.62	0.17	2.66	0.59	0.15	2.83	0.53	0.05	2.78	0.59	0.12	2.55
Learned-PCGC	3.41	3.01	3.43	3.46	3.09	4.54	4.43	3.05	4.76	3.37	2.95	4.39	3.52	3.03	3.44
PCGCv2	0.58	0.22	3.05	0.62	0.27	3.12	0.60	0.25	3.35	0.54	0.19	2.96	0.60	0.23	3.06
PCGFormer	0.74	0.46	2.79	0.78	0.52	2.93	0.76	0.49	2.81	0.67	0.41	2.42	0.76	0.49	2.80
本文	0.31	0.16	5.36	0.39	0.24	5.32	0.35	0.19	5.49	0.28	0.12	5.18	0.32	0.17	5.38

RosBag	2012-04-29			2012-06-15			2012-09-28			2013-01-10			NCLT
指标	ET	DT	BR	ET	DT	BR	ET	DT	BR	ET	DT	BR	ET	DT	BR
G-PCC-octree	0.57	0.11	2.54	0.62	0.17	2.66	0.59	0.15	2.83	0.53	0.05	2.78	0.59	0.12	2.55
Learned-PCGC	3.41	3.01	3.43	3.46	3.09	4.54	4.43	3.05	4.76	3.37	2.95	4.39	3.52	3.03	3.44
PCGCv2	0.58	0.22	3.05	0.62	0.27	3.12	0.60	0.25	3.35	0.54	0.19	2.96	0.60	0.23	3.06
PCGFormer	0.74	0.46	2.79	0.78	0.52	2.93	0.76	0.49	2.81	0.67	0.41	2.42	0.76	0.49	2.80
本文	0.31	0.16	5.36	0.39	0.24	5.32	0.35	0.19	5.49	0.28	0.12	5.18	0.32	0.17	5.38

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