DocumentCode :
580673
Title :
Sensor fusion for flexible human-portable building-scale mapping
Author :
Fallon, Maurice F. ; Johannsson, Hordur ; Brookshire, Jonathan ; Teller, Seth ; Leonard, John J.
Author_Institution :
Comput. Sci. & Artificial Intell. Lab., Massachusetts Inst. of Technol., Cambridge, MA, USA
fYear :
2012
fDate :
7-12 Oct. 2012
Firstpage :
4405
Lastpage :
4412
Abstract :
This paper describes a system enabling rapid multi-floor indoor map building using a body-worn sensor system fusing information from RGB-D cameras, LIDAR, inertial, and barometric sensors. Our work is motivated by rapid response missions by emergency personnel, in which the capability for one or more people to rapidly map a complex indoor environment is essential for public safety. Human-portable mapping raises a number of challenges not encountered in typical robotic mapping applications including complex 6-DOF motion and the traversal of challenging trajectories including stairs or elevators. Our system achieves robust performance in these situations by exploiting state-of-the-art techniques for robust pose graph optimization and loop closure detection. It achieves real-time performance in indoor environments of moderate scale. Experimental results are demonstrated for human-portable mapping of several floors of a university building, demonstrating the system´s ability to handle motion up and down stairs and to organize initially disconnected sets of submaps in a complex environment.
Keywords :
SLAM (robots); barometers; body sensor networks; emergency services; optical radar; safety; sensor fusion; LIDAR; RGB-D camera; barometric sensor; body-worn sensor system; complex 6-DOF motion; flexible human-portable building-scale mapping; human-portable mapping; inertial sensor; loop closure detection; multifloor indoor map building; pose graph optimization; public safety; robotic mapping; sensor fusion; Educational institutions; Floors; Image resolution; Robot sensing systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on
Conference_Location :
Vilamoura
ISSN :
2153-0858
Print_ISBN :
978-1-4673-1737-5
Type :
conf
DOI :
10.1109/IROS.2012.6385882
Filename :
6385882
Link To Document :
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