3D modeling of indoor environments by a mobile robot with a laser scanner and panoramic camera

Biber, Peter; Andreasson, Henrik; Duckett, Tom; Schilling, Andreas

doi:10.1109/iros.2004.1389947

Cited by 93 publications

(67 citation statements)

References 14 publications

(10 reference statements)

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“…It is an inherently hard problem because noise in the estimate of the robot pose leads to noise in the estimate of the map and vice-versa. Typical SLAM approaches use laser range sensors to build maps in two and three dimensions (e.g., [8,9,3,5,28]). However, in recent years the interest on using cameras as sensors in SLAM has increased.…”

Section: Introductionmentioning

confidence: 99%

A comparative evaluation of interest point detectors and local descriptors for visual SLAM

Gil

Mozos

Ballesta

2009

Machine Vision and Applications

150

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In this paper we compare the behavior of different interest points detectors and descriptors under the conditions needed to be used as landmarks in visionbased simultaneous localization and mapping (SLAM). We evaluate the repeatability of the detectors, as well as the invariance and distinctiveness of the descriptors, under different perceptual conditions using sequences of images representing planar objects as well as 3D scenes. We believe that this information will be useful when selecting an appropriate landmark detector and descriptor for visual SLAM.

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Section: Introductionmentioning

confidence: 99%

A comparative evaluation of interest point detectors and local descriptors for visual SLAM

Gil

Mozos

Ballesta

2009

Machine Vision and Applications

150

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“…One of the results is that the currently used user input from GPS tracks for updating and editing OpenStreetMap data cannot be applied here unless a ubiquitous indoor tracking system has been developed. Other options for indoor data gathering include photo modeling and laser scanning of individual buildings (Biber et al 2004); but this is work intensive, expensive and not a comprehensive way of solving the data problem. Currently, many indoor data already exists in the form of for example YAH maps, CAD plans, CityGML or IFC models.…”

Section: Indoor Navigation: Product-to-market Implicationsmentioning

confidence: 99%

Combining Indoor and Outdoor Navigation: The Current Approach of Route Planners

Vanclooster

Maeyer

2012

Advances in Location-Based Services

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Abstract. This paper studies the use of indoor infrastructures for navigation in several currently available route planners. In the context of an increasing dependence on positioning and navigation tools, a shift has taken place from solely outdoor applications to the indoor environment. Although location based services and indoor positioning techniques may have gotten increasing attention from research and commercial point of view, ubiquitous indoor navigation systems are not yet available on the market. With people moving seamlessly from indoor to outdoor, systems that integrate navigation in both will be the next challenge in navigational research. This paper contributes to this integration of the notion of indoor and outdoor space by studying its impact on route planners. A review of various case studies in multiple route planners has been carried out which reveal different aspects and requirements for the indoor-outdoor connection in way finding. Currently, mostly data constraints prevent the optimal use of all navigation routes. Additional problems were discovered with address matching methodologies influencing the exit choice of buildings (leading in some cases to sub optimal routing). Recommendations are made for future

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“…Moreover, non-parametric methods, such as the k-means clustering algorithm [22], are also used for the same purpose. In addition to modeling with laser scanners only, other devices, such as panoramic cameras, are used integrated with laser scanners [23]. Besides the techniques for modeling indoor environments, especially for robot navigation, terrains are modeled using airborne laser scanners for obtaining terrestrial information as in [24] and [25].…”

Section: -D Modeling Techniques Allow Describing Environments Includmentioning

confidence: 99%

Novel Compression Algorithm Based on Sparse Sampling of 3-D Laser Range Scans

Dobrucali

Barshan

2012

The Computer Journal

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3-D models of environments can be very useful and are commonly employed in areas such as robotics, art and architecture, environmental planning and documentation. A 3-D model is typically comprised of a large number of measurements. When 3-D models of environments need to be transmitted or stored, they should be compressed efficiently to use the capacity of the communication channel or the storage medium effectively. In this thesis, we propose a novel compression technique based on compressive sampling, applied to sparse representations of 3-D laser range measurements. The main issue here is finding highly sparse representations of the range measurements, since they do not have such representations in common domains, such as the frequency domain. To solve this problem, we develop a new algorithm to generate sparse innovations between consecutive range measurements acquired while the sensor moves. We compare the sparsity of our innovations with others generated by estimation and filtering. Furthermore, we compare the compression performance of our lossy compression method with widely used lossless and lossy compression techniques.The proposed method offers small compression ratio and provides a reasonable compromise between reconstruction error and processing time.

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3D modeling of indoor environments by a mobile robot with a laser scanner and panoramic camera

Cited by 93 publications

References 14 publications

A comparative evaluation of interest point detectors and local descriptors for visual SLAM

A comparative evaluation of interest point detectors and local descriptors for visual SLAM

Combining Indoor and Outdoor Navigation: The Current Approach of Route Planners

Novel Compression Algorithm Based on Sparse Sampling of 3-D Laser Range Scans

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