Ceiling feature detection for Geo-referencing in SLAM

Tamaki Kobayashi, Masafumi Nakagawa

研究成果: Conference contribution

抄録

In this study, we focused on ceiling features, such as illuminators, emergency sign boards, and Wi-Fi routers, to cancel accumulated errors in simultaneous localization and mapping. First, point cloud data in indoor spaces are acquired using a time-of-flight camera. Second, ceiling surfaces are estimated from the acquired point cloud data with the random sample consensus algorithm. Third, ceiling features are estimated to be used for reference features. Then, gravity points of the estimated features are estimated to be used for reference points. Finally, an indoor environment map is generated with the reference points. Through our experiments in indoor environments, we clarified that our methodology can detect ceiling features to be used for reference points.

本文言語English
ホスト出版物のタイトル37th Asian Conference on Remote Sensing, ACRS 2016
出版社Asian Association on Remote Sensing
ページ443-448
ページ数6
1
ISBN(電子版)9781510834613
出版ステータスPublished - 2016
イベント37th Asian Conference on Remote Sensing, ACRS 2016 - Colombo, Sri Lanka
継続期間: 2016 10 172016 10 21

Other

Other37th Asian Conference on Remote Sensing, ACRS 2016
CountrySri Lanka
CityColombo
Period16/10/1716/10/21

ASJC Scopus subject areas

  • Computer Networks and Communications

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