Low cost 3D mapping for indoor navigation

Abstract

This article focuses on the ability to use a robot with a low cost 3D Scanner (Kinect) in an indoor environment to do a mapping of different rooms in a building and to be able to localize itself when going back to the same room. This method uses SIFT points (points of interest in images) to be able to reconstruct the environment in 3D and uses these SIFT points to identify the localization of the robot.

Aerial Robot Coworkers for Autonomous Localization of Missing Tools in Manufacturing Plants

“…There are many robot localization methods based on SLAM, such as RGBD-SLAM [10], ORB-SLAM [6] or RTAB-Map [11]. They build their maps online and do not exploit the fact that the robot moves in a partially known environment.…”

Purwarupa Radar sebagai Pendeteksi Benda Diam menggunakan Ultrasonik

“…Pada penelitian (Bergeon, Hadda, Krivanek, Motsch, & Stefek, 2015), diimplementasikan sebuah sistem pemetaan 3 dimensi untuk navigasi pada ruangan menggunakan kamera sebagai detektornya. Namun resource yang digunakan masih cukup besar yaitu penggunaan PC dan kamera kinect Xbox sebagai pengolah data.…”

Development of a Low Cost and Path-free Autonomous Patrol System Based on Stereo Vision System and Checking Flags

“…On the other hand, given that the accuracy of SLAM is based on the precision of sensors, and the precision is sometimes related to the price of sensors, several researches are focus on how to cost down patrol systems [10][11][12][13][14][15][16][17][18][19][20][21][22][23]. Jiang, G. et al propose a graph optimization-based SLAM framework through combining a low-cost LiDAR and an RGB-D camera to improve the defect of accumulated error for building large maps only by low-cost LiDAR [10][11][12][13].…”

“…Same for in order to reduce the cost of using high prices LiDAR, Jiang, G. et al propose a fast Fourier transform-based scan-match method to enhance the accuracy and resolution of a low-cost LiDAR [14]. Moreover, Shuda L. used only an RGB-D camera to realize the SLAM application [15][16][17]. For more, Gong Z. et al combine a cheap LiDAR system and crash sensors with a NVIDIA Jetson tk1 module on a wheeling robot to fabricate a low cost patrolling platform, and using tiny SLAM algorithm on the platform to achieve a real-time indoor mapping [18].…”