Low Cost 3D Mapping for Indoor Navigation

被引：0

作者：

Bergeon, Yves ^{[1
]}

Hadda, Imed ^{[2
]}

Krivanek, Vaclav ^{[3
]}

Motsch, Jean ^{[1
]}

Stefek, Alexandr ^{[3
]}

机构：

[1] Ecoles St Cyr Coetquidan, Guer, France

[2] Univ Tunis El Manar, Ecole Natl Ingenieurs Tunis, Tunis, Tunisia

[3] Univ Def, Brno, Czech Republic

来源：

INTERNATIONAL CONFERENCE ON MILITARY TECHNOLOGIES (ICMT 2015) | 2015年

关键词：

component; 3D scanner; kinect; localization; mapping; SIFT points; Vision; Robot Eddie; Robot Operating System; ROS;

D O I：

暂无

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

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.

引用

页码：689 / 693

页数：5

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