scholarly journals Multisensorial Active Perception for Indoor Environment Modeling

10.5772/9964 ◽  
2010 ◽  
Author(s):  
Luz Abril
Keyword(s):  
Indoor Environment ◽  
Active Perception ◽  
Environment Modeling

Active range sensing for indoor environment modeling

1998 ◽  
Vol 47 (1) ◽  
pp. 260-264 ◽  
Author(s):  
S. Elgazzar ◽  
R. Liscano ◽  
F. Blais ◽  
A. Miles
Keyword(s):  
Indoor Environment ◽  
Environment Modeling ◽  
Range Sensing

Indoor environment modeling for interactive robot security application

2006 ◽  
Author(s):  
Sangwoo Jo ◽  
Qonita M. Shahab ◽  
Yong-Moo Kwon ◽  
Sang Chul Ahn
Keyword(s):  
Indoor Environment ◽  
Environment Modeling ◽  
Security Application

Visual Odometry and 3D Mapping in Indoor Environments

2013 ◽  
Vol 336-338 ◽  
pp. 348-354 ◽  
Author(s):  
Qin Fan Wu ◽  
Qing Li ◽  
Nong Cheng
Keyword(s):  
State Estimation ◽  
Indoor Environment ◽  
Visual Odometry ◽  
Least Square ◽  
Microsoft Kinect ◽  
Indoor Environments ◽  
Environment Modeling ◽  
Least Square Estimator ◽  
Aerial Vehicle ◽  
Rgb Images

This paper presents a robust state estimation and 3D environment modeling approach that enables Micro Aerial Vehicle (MAV) operating in challenging GPS-denied indoor environments. A fast, accurate and robust approach to visual odometry is developed based on Microsoft Kinect. Discriminative features are extracted from RGB images and matched across consecutive frames. A robust least-square estimator is applied to get relative motion estimation. All computation is performed in real-time, which provides high frequency of 6 degree-of-freedom state estimation. A detailed 3D map of an indoor environment is also constructed.

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