Detection and utilization of vertical intersection in feature-less environment with RGB-depth sensor

Hyunga Choi, Suyong Yeon, Nakju Lett Doh

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    This paper proposes a method to build a RGBD map in feature-less environment. The proposed method especially focuses on a corridor environment a common indoor space composed of simple textureless structures. It estimates robot positions for mapping by using a plane registration algorithm with additional imaginary planes. The imaginary planes are created by vertical intersections the core element of this method. An experimental result shows that the proposed method increases the success rate of estimation of translation along a corridor.

    Original languageEnglish
    Title of host publication2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages537-540
    Number of pages4
    ISBN (Electronic)9781467379700
    DOIs
    Publication statusPublished - 2015 Dec 16
    Event12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015 - Goyang City, Korea, Republic of
    Duration: 2015 Oct 282015 Oct 30

    Publication series

    Name2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015

    Other

    Other12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
    Country/TerritoryKorea, Republic of
    CityGoyang City
    Period15/10/2815/10/30

    Bibliographical note

    Funding Information:
    This research was supported in part by the Global Frontier RandD Program on Human-centered Interaction for Coexistence funded by the National Research Foundation of Korea grant funded by the Korean Government (MSIP) (NRF-2011-0031648) and in part by the International Research and Development Program of the National Research Foundation of Korea (NRF) grant funded by the Korea government (MSIP) (NRF-2014K1A3A1A19067398)

    Publisher Copyright:
    © 2015 IEEE.

    Keywords

    • Corridor
    • Feature-less
    • RGB-D
    • SLAM
    • Vertical Intersection

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Human-Computer Interaction

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