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	Improving 3D Indoor Mapping with Motion Data
	Jianhao Du; Yongsheng Ou; Weihua Sheng
	2012
会议名称	2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012)
会议地点	中国
英文摘要	Using both RGB and depth information obtained from low-cost RGB-D cameras, 3D models of indoor environment can be reconstructed, which provide extensive knowledge for mobile robots to accomplish tasks such as localization, mapping, interaction with human, etc. Due to the limited views of RGB-D cameras, additional information about the camera pose is needed. In this paper, an enhanced 3D mapping algorithm is proposed to overcome the limitations. The motion of the RGB-D camera is estimated by a motion capture system after a calibration process. Based on the estimated pose, a multi-level ICP (Iterative Closest Point) algorithm is used to improve the alignment. The result shows that the 3D map can be generated in real-time. We compare our results with other approaches to show the robustness of our algorithm.
收录类别	EI
语种	英语
内容类型	会议论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/3910]
专题	深圳先进技术研究院_集成所
作者单位	2012
推荐引用方式 GB/T 7714	Jianhao Du,Yongsheng Ou,Weihua Sheng. Improving 3D Indoor Mapping with Motion Data[C]. 见:2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012). 中国.

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