Detection and utilization of vertical intersection in feature-less environment with RGB-depth sensor

Hyunga Choi, Suyong Yeon, Nakju Doh

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes a method to build a RGBD map in feature-less environment. The proposed method especially focuses on a corridor environment a common indoor space composed of simple textureless structures. It estimates robot positions for mapping by using a plane registration algorithm with additional imaginary planes. The imaginary planes are created by vertical intersections the core element of this method. An experimental result shows that the proposed method increases the success rate of estimation of translation along a corridor.

Original languageEnglish
Title of host publication2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages537-540
Number of pages4
ISBN (Print)9781467379700
DOIs
Publication statusPublished - 2015 Dec 16
Event12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015 - Goyang City, Korea, Republic of
Duration: 2015 Oct 282015 Oct 30

Other

Other12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
CountryKorea, Republic of
CityGoyang City
Period15/10/2815/10/30

Keywords

  • Corridor
  • Feature-less
  • RGB-D
  • SLAM
  • Vertical Intersection

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

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  • Cite this

    Choi, H., Yeon, S., & Doh, N. (2015). Detection and utilization of vertical intersection in feature-less environment with RGB-depth sensor. In 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015 (pp. 537-540). [7358824] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/URAI.2015.7358824