Realtime 3D map construction of an indoor environment with a mobile robot모바일 로봇을 이용한 실시간 실내환경 3D 맵 구축

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This paper presents a real-time and autonomous algorithm for generating low-complexity multi-planar 3D models of indoor environments with a mobile robot equipped with range finders and a panoramic camera. In contrast with previous studies, our algorithm relies on neither iterative computations nor manual processing but, instead, is incremental online. At each time step, a line of range finder measurements is linearly segmented, and the data line segments extract planar surfaces of indoor environments. The structuralization procedure does not use polygon models for the measurements. Our algorithm can build a compact 3D map without requiring dense point clouds. The visualization through the graph is simple and quick, and experimental results verify the feasibility and power of our algorithm.
Advisors
Jo, Sung-Ho Joresearcher조성호researcher
Description
한국과학기술원 : 전산학과,
Publisher
한국과학기술원
Issue Date
2011
Identifier
467925/325007  / 020093485
Language
eng
Description

학위논문(석사) - 한국과학기술원 : 전산학과, 2011.2, [ iv, 26 p. ]

Keywords

robotics; mapping; 3Dmapping; 맵핑; 3D맵핑; 로봇틱스; 인지기술; perception

URI
http://hdl.handle.net/10203/180562
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=467925&flag=dissertation
Appears in Collection
CS-Theses_Master(석사논문)
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