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Classical methods of modelling and mapping robot work cells are timeconsuming, expensive and involve expert knowledge. We present a novel approachto mapping and cell setup using modern Head Mounted Displays (HMDs) thatpossess self-localisation and mapping capabilities. We leveraged thesecapabilities to create a point cloud of the environment and build an OctoMap -a voxel occupancy grid representation of the robot's workspace for pathplanning. Through the use of Augmented Reality (AR) interactions, the user canedit the created Octomap and add security zones. We perform comprehensive testsof the HoloLens' depth sensing capabilities and the quality of the resultantpoint cloud. A high-end laser scanner is used to provide the ground truth forthe evaluation of the point cloud quality. The amount of false-positive andfalse-negative voxels in the OctoMap are also tested.

What the HoloLens Maps Is Your Workspace: Fast Mapping and Set-up of Robot Cells via Head Mounted Displays and Augmented Reality