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
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;
Conference_Titel :
Military Technologies (ICMT), 2015 International Conference on
Conference_Location :
Brno
Print_ISBN :
978-8-0723-1976-3
DOI :
10.1109/MILTECHS.2015.7153749
