DocumentCode
3091322
Title
Low cost 3D mapping for indoor navigation
Author
Bergeon, Yves ; Hadda, Imed ; Krivanek, Vaclav ; Motsch, Jean ; Stefek, Alexandr
Author_Institution
Ecoles de St.-Cyr Coetquidan, Guer, France
fYear
2015
fDate
19-21 May 2015
Firstpage
1
Lastpage
5
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.
Keywords
SLAM (robots); image reconstruction; indoor environment; mobile robots; path planning; robot vision; transforms; 3D mapping; 3D scanner; Kinect; SIFT point; SLAM; image reconstruction; indoor environment; indoor navigation; robot localization; scale-invariant feature transform; simultaneous localization and mapping; Buildings; Image reconstruction; Mobile robots; Robot sensing systems; Three-dimensional displays; 3D scanner; ROS; Robot Eddie; Robot Operating System; SIFT points; Vision; kinect; localization; mapping;
fLanguage
English
Publisher
ieee
Conference_Titel
Military Technologies (ICMT), 2015 International Conference on
Conference_Location
Brno
Print_ISBN
978-8-0723-1976-3
Type
conf
DOI
10.1109/MILTECHS.2015.7153749
Filename
7153749
Link To Document