Active range sensing for indoor environment modeling

Abstract

This paper investigates modeling indoor environments using a low-cost, compact, active-range camera, known as BIRIS, mounted onto a pan and tilt motor unit. The BIRIS sensor, developed at the National Research Council of Canada, is a rugged small camera with no moving parts. The objectives of this paper are to describe and demonstrate the viability of the use of a low-cost range sensor in the domain of indoor environment modeling; to present the results of processing three-dimensional (3-D) data to build a virtual environment for navigation and visualization; and, to analyze and outline the advantages and limitations encountered when scanning large indoor environments.

Single stripe projection based range scanning of shiny objects under ambient light

“…They used a least squares estimator to remove outliers in the range data. Elgazzar et al [5] developed a specific laser stripe based range sensor for indoor environment scanning. They, modified the lens of the camera with a mask in front of it.…”

Intelligent robotic sensor agents for environment monitoring

“…In order to provide a high degree of autonomy as requested by their functions, the mobile robotic intelligent sensor agents, R-ISA's, should have onboard sensing, computing, and wireless communication capabilities as well as the ability to autonomously perform exploratory m otions, [32], [33], [34], [35], [36], [37], and [38].…”