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3D Indoor Environment Modeling by a Mobile Robot with Omnidirectional Stereo and Laser Range Finder

Suguru Ikeda, Jun Miura
2006 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems  
We therefore develop a method of generating 3D environment models relatively simply and fast. We use an omnidirectional stereo as a primary sensor and additionally use a laser range finder.  ...  This paper deals with generation of 3D environment models. The model is expected to be used for location recognition by robots and users. For such a use, very precise models are not necessary.  ...  This section explains a method of generating 3D obstacle map by temporal integration of stereo data using a probabilistic model of stereo uncertainty. Rocha et al.  ... 
doi:10.1109/iros.2006.282582 dblp:conf/iros/IkedaM06 fatcat:4ybes4xlarfcxb7l4whhyu7wbm

Fast 3D Semantic Mapping in Road Scenes

Xuanpeng Li, Dong Wang, Huanxuan Ao, Rachid Belaroussi, Dominique Gruyer
2019 Applied Sciences  
In this work, we propose a fast 3D semantic mapping system based on the monocular vision by fusion of localization, mapping, and scene parsing.  ...  Our system consists of three modules: a parallel visual Simultaneous Localization And Mapping (SLAM) and semantic segmentation module, an incrementally semantic transfer from 2D image to 3D point cloud  ...  The funders had no role in the design of the study; in the collection, analyses, or interpretation of data; in the writing of the manuscript, or in the decision to publish the results.  ... 
doi:10.3390/app9040631 fatcat:3iqebmhknnbfphezkanwbbuex4

Autonomous Mobile Robot Navigation in Uneven and Unstructured Indoor Environments [article]

Chaoqun Wang, Lili Meng, Sizhen She, Ian M. Mitchell, Teng Li, Frederick Tung, Weiwei Wan, Max. Q. -H. Meng, Clarence W. de Silva
2017 arXiv   pre-print
In this paper, we present an integrated software and hardware system for autonomous mobile robot navigation in uneven and unstructured indoor environments.  ...  Our robot first builds a 3D OctoMap representation for the uneven environment with the 3D mapping using wheel odometry, 2D laser and RGB-D data.  ...  ACKNOWLEDGMENTS The authors would like to thank Ji Zhang from Carnegie Mellon University for the helpful discussion and Wolfram Burgard from University of Freiburg for the suggestion on the supplementary  ... 
arXiv:1710.10523v1 fatcat:wxkkhk6lkzbzrliof7m4sj44ga

Mobile robot mapping in populated environments

Dirk Hähnel, Dirk Schulz, Wolfram Burgard
2003 Advanced Robotics  
We present several experiments illustrating the capabilities of our approach to generate accurate 2d and 3d maps.  ...  In this paper we consider the problem of creating maps with mobile robots in populated environments.  ...  platforms as well as for generating 2d and 3d maps.  ... 
doi:10.1163/156855303769156965 fatcat:ybwzetshsfgplf3oxnprsyqqt4

From object categories to grasp transfer using probabilistic reasoning

Marianna Madry, Dan Song, Danica Kragic
2012 2012 IEEE International Conference on Robotics and Automation  
of 2D and 3D cues, and iii) probabilistic grasp reasoning system.  ...  The experimental evaluation compares individual 2D and 3D categorization approaches with the integrated system, and it demonstrates the usefulness of the categorization in task-based grasping and grasp  ...  Our system integrates 2D and 3D visual information and captures different object properties (appearance, color, shape) thus making the categorization process robust in a real-world scenario.  ... 
doi:10.1109/icra.2012.6225052 dblp:conf/icra/MadrySK12 fatcat:mzdfu3lz6nb7vfuov26zgdjfi4

The 3D-Kernel DM+V/W algorithm: Using wind information in three dimensional gas distribution modelling with a mobile robot

Matteo Reggente, Achim J Lilienthal
2010 2010 IEEE Sensors  
In this paper we present a statistical method to build three-dimensional gas distribution maps from gas sensor and wind measurements obtained with a mobile robot in uncontrolled environments.  ...  The particular contribution of this paper is to introduce and evaluate an algorithm for 3D statistical gas distribution mapping, that takes into account airflow information. 3D-Kernel DM+V/W algorithm  ...  This work was in part supported by Swedish Research Council and the EU project Diadem: Distributed Information Acquisition and Decision-Making for Environmental Management (Contact Number: FP7-ICT-2007  ... 
doi:10.1109/icsens.2010.5690924 fatcat:pko2xng4u5cy5i42kd37hvmn24

Active Mapping and Robot Exploration: A Survey

Iker Lluvia, Elena Lazkano, Ander Ansuategi
2021 Sensors  
Simultaneous localization and mapping responds to the problem of building a map of the environment without any prior information and based on the data obtained from one or more sensors.  ...  In this paper, a comprehensive review of the research work developed in this field is provided, targeting the most relevant contributions in indoor mobile robotics.  ...  There is a variant referred as 2.5D that, without being a pure 3D grid map, stores height information in an extended 2D grid cell map [182] .  ... 
doi:10.3390/s21072445 pmid:33918107 fatcat:gdkdn2p2lfe7pfngwec55bxozu

TREES DETECTION FROM LASER POINT CLOUDS ACQUIRED IN DENSE URBAN AREAS BY A MOBILE MAPPING SYSTEM

F. Monnier, B. Vallet, B. Soheilian
2012 ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
This paper proposes a pipeline to detect trees in point clouds acquired in dense urban areas with only laser informations (x,y, z coordinates and intensity).  ...  3D reconstruction of trees is of great interest in large-scale 3D city modelling.  ...  For instance, foliage and façades are emphasized respectively in the 3D and 2D descriptors.  ... 
doi:10.5194/isprsannals-i-3-245-2012 fatcat:hbv6rm6glnaytnu3f2ciivk3ea

GreenMap: Approximated Filtering Towards Energy-Aware Crowdsensing for Indoor Mapping

Johannes Kassinger, Mohamed Abdelaal, Frank Durr, Kurt Rothermel
2018 2018 IEEE 15th International Conference on Mobile Ad Hoc and Sensor Systems (MASS)  
Google Tango, Microsoft Hololens and Apple ARKit-to generate floor plans with different levels of detail, i.e. 2D and 3D mapping.  ...  In this realm, 3D point clouds stand as an optimal data type which can be crowdsensed-using currently-available mobile devices, e.g.  ...  So far, we crowdsensed 3D point clouds to generate 2D floor plans.  ... 
doi:10.1109/mass.2018.00069 dblp:conf/mass/Kassinger0DR18 fatcat:64qw2mmhpfa37lyml7v4sb2dru

Active and Interactive Mapping with Dynamic Gaussian Process Implicit Surfaces for Mobile Manipulators [article]

Liyang Liu, Simon Fryc, Lan Wu, Thanh Vu, Gavin Paul, Teresa Vidal-Calleja
2021 arXiv   pre-print
In this letter, we present an interactive probabilistic mapping framework for a mobile manipulator picking objects from a pile.  ...  Actively the framework provides the next-best-view, balancing the need for picking object reachability with map information gain (IG).  ...  In this paper, we derive the analytical gradient expression from 3D GPIS uncertainty for NBV candidates in 2D mobile manipulator exploration.  ... 
arXiv:2010.13108v2 fatcat:ugnqwdngqrejtl2pivonmmg6ay

3D Visual SLAM Based on Multiple Iterative Closest Point

Chunguang Li, Chongben Tao, Guodong Liu
2015 Mathematical Problems in Engineering  
With the development of novel RGB-D visual sensors, data association has been a basic problem in 3D Visual Simultaneous Localization and Mapping (VSLAM).  ...  Experiment results show that not only the proposed VSLAM algorithm achieved good accuracy and reliability, but also the 3D map can be generated in real time.  ...  Hence, many researchers now focus on 3D mapping and the RGB depth sensors (RGB-D) cameras are new alternatives to provide the useful information to create the map.  ... 
doi:10.1155/2015/943510 fatcat:rbczroavrvgofizo7tbva5icue

Decentralized target tracking based on multi-robot cooperative triangulation

A. Dias, J. Capitan, L. Merino, J. Almeida, P. Lima, E. Silva
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
In this paper, we propose a multi-robot triangulation method with a dynamic baseline that can triangulate bearing-only measurements in a probabilistic manner to produce 3D observations.  ...  In those cases, cooperative approaches with multiple tracking robots are interesting, but the different sources of uncertain information need to be considered appropriately in order to achieve better estimates  ...  01-0124-FEDER-037281 and ISR/LARSYS PEst-OE/EEI/LA0009/2013; and by the Junta de Andalucia through the project PAIS-MultiRobot (TIC-7390).  ... 
doi:10.1109/icra.2015.7139676 dblp:conf/icra/DiasCMALS15 fatcat:ii6gmm4lh5azrom2ret3ebhjfm

Author Index

2010 2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition  
Trees in Noisy 2D Images and 3D Image-Stacks Turk, Matthew Workshop: Location-based Augmented Reality on Mobile Phones Turtinen, Markus Demo: MOBIO: Mobile Biometric Face and Speaker Authentication Specular  ...  Searching Strategy for Articulated 3D Human Body Tracking Hu, Wenze Learning a Probabilistic Model Mixing 3D and 2D Primitives for View Invariant Object Recognition Hu, Xiaoyan Evaluation of Stereo Confidence  ... 
doi:10.1109/cvpr.2010.5539913 fatcat:y6m5knstrzfyfin6jzusc42p54

Hierarchies of octrees for efficient 3D mapping

Kai M. Wurm, Daniel Hennes, Dirk Holz, Radu B. Rusu, Cyrill Stachniss, Kurt Konolige, Wolfram Burgard
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Our representation models the environment as a hierarchy of probabilistic 3D maps, in which each submap is updated and transformed individually.  ...  In this paper, we present a novel multi-resolution approach to efficiently mapping 3D environments.  ...  [15] used octrees [9] to adapt occupancy grid mapping from 2D to 3D and thereby introduced a probabilistic way of modeling occupied and free space.  ... 
doi:10.1109/iros.2011.6048189 fatcat:c7nz4lcouncltotu3fvsoarkui

Hierarchies of octrees for efficient 3D mapping

K. M. Wurm, D. Hennes, D. Holz, R. B. Rusu, C. Stachniss, K. Konolige, W. Burgard
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Our representation models the environment as a hierarchy of probabilistic 3D maps, in which each submap is updated and transformed individually.  ...  In this paper, we present a novel multi-resolution approach to efficiently mapping 3D environments.  ...  [15] used octrees [9] to adapt occupancy grid mapping from 2D to 3D and thereby introduced a probabilistic way of modeling occupied and free space.  ... 
doi:10.1109/iros.2011.6094571 dblp:conf/iros/WurmHHRSKB11 fatcat:zyrjyasui5eltokz73w45kbinu
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