Accurate Continuous Sweeping Framework in Indoor Spaces With Backpack Sensor System for Applications to 3-D Mapping

Keonyong Lee, Soo Hyun Ryu, Suyong Yeon, Hyun Gi Cho, Chang Hyun Jun, Jaehyeon Kang, Hyunga Choi, Janghun Hyeon, Insik Baek, Woonhyung Jung, Hanul Kim, Nakju Doh

Research output: Contribution to journalArticle

8 Citations (Scopus)

Abstract

In indoor environments, there exists a few distinctive indoor spaces' features (ISFs). However, up to our knowledge, there is no algorithm that fully utilizes ISF for accurate 3-D SLAM. In this letter, we suggest a sensor system that efficiently captures ISF and propose an algorithm framework that accurately estimates sensor's 3-D poses by utilizing ISF. Experiments conducted in six representative indoor spaces show that the accuracy of the proposed method is better than the previous method. Furthermore, the proposed method shows robust performances in a sense that a set of adjusted parameters of the related algorithms does not need to be recalibrated as target environment changes. We also demonstrate that the proposed method not only generates 3-D depth maps but also builds a dense 3-D RGB-D map.

Original languageEnglish
Article number7378318
Pages (from-to)316-323
Number of pages8
JournalIEEE Robotics and Automation Letters
Volume1
Issue number1
DOIs
Publication statusPublished - 2016 Jan 1

Keywords

  • Localization
  • Mapping
  • SLAM

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Human-Computer Interaction
  • Biomedical Engineering
  • Mechanical Engineering
  • Control and Optimization
  • Artificial Intelligence
  • Computer Science Applications
  • Computer Vision and Pattern Recognition

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    Lee, K., Ryu, S. H., Yeon, S., Cho, H. G., Jun, C. H., Kang, J., Choi, H., Hyeon, J., Baek, I., Jung, W., Kim, H., & Doh, N. (2016). Accurate Continuous Sweeping Framework in Indoor Spaces With Backpack Sensor System for Applications to 3-D Mapping. IEEE Robotics and Automation Letters, 1(1), 316-323. [7378318]. https://doi.org/10.1109/LRA.2016.2516585