Standard

IEEE 2751

Published

Singles purchase not accessible

This standard can not be purchased as a single sales.

Abstract

This standard provides specifications for representing 3D maps. This standard defines a recommended format for exchanging map data among robots, computers, and other devices. The map representation format specified by this standard only considers static maps; in other words, moving elements are not explicitly represented in the maps. Additionally, no limit is placed on geographic scale or sensor modalities in applying this standard. To this end, the standard: a) Defines a hierarchy of terminologies related to 3D robot maps for robotics and automation  b) Specifies a data model for each element of the hierarchy  c) Specifies a JSON format for map data exchange between different robots, computer systems, and devices This standard expands upon IEEE Std 1873-2015, IEEE Standard for Robot Map Data Representation for Navigation which covers two-dimensional (2D) robot maps. The maps that can be represented with the IEEE Std 1873-2015 can also be represented with this standard. However, the JSON format defined by this standard is different (i.e., not a superset) of the XML format employed by the IEEE Std 1873-2015.6 This standard provides formats for exchanging 3D map data between robots and devices (e.g., by transmitting them over a communication channel or by saving them on some storing devices). This standard is not intended to affect internal formats that robots and devices use to build, update, and use maps. These maps represented in these internal formats could be translated to and from the format prescribed by this standard. As a consequence, the formats provided by this standard are agnostic about how maps have been built (e.g., using LIDARs or cameras or multiple sensors). Purpose The purpose of this standard is to define a common representation for robot 3D map data, including metric and topological maps. It is intended to facilitate interoperability among different robots, extending operational range and application areas of the robots. While facilitating technological advancement for spatial mapping carried out by robots and/or other relevant devices, this standard does not cover the activities of building, maintaining, updating, and revising robot maps. 6 Information on references can be found in Clause 2.

Document information

  • Standard from IEEE_AC
  • Published:
  • Version: 0
  • Document type: IS
  • Additional information
    • IEEE Robotics and Automation Society