Abstract-This paper presents a real-time algorithm for acquiring compact 3D maps of indoor environments, using a mobile robot equipped with range and imaging sensors. Building on previous work on real-time pose estimation during mapping [1], our approach extends the popular expectation maximization algorithm [2] to multi-surface models, and makes it amenable to real-time execution. Maps acquired by our algorithm consist of compact sets of textured polygons that can be visualized interactively. Experimental results obtained in corridor-type environments illustrate that compact and accurate maps can be acquired in real-time and in a fully automated fashion.
The ESA Hipparcos satellite made measurements of over 12,000 double stars and discovered 3406 new systems. In addition to these, 4706 entries in the Hipparcos Catalogue correspond to double star solutions that did not provide the classical parameters of separation and position angle (o, h) but were the so-called problem stars, Ñagged "" G,ÏÏ "" O,ÏÏ "" V,ÏÏ or "" X ÏÏ (Ðeld H59 of the main catalog). An additional subset of 6981 entries were treated as single objects but classiÐed by Hipparcos as "" suspected nonsingle ÏÏ (Ñag "" S ÏÏ in Ðeld H61), thus yielding a total of 11,687 "" problem stars.ÏÏ Of the many ground-based techniques for the study of double stars, probably the one with the greatest potential for exploration of these new and problem Hipparcos binaries is speckle interferometry. Results are presented from an inspection of 848 new and problem Hipparcos binaries, using both archival and new speckle observations obtained with the USNO and CHARA speckle cameras.
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