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 language | English |
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Title of host publication | 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015 |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 537-540 |
Number of pages | 4 |
ISBN (Electronic) | 9781467379700 |
DOIs | |
Publication status | Published - 2015 Dec 16 |
Event | 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015 - Goyang City, Korea, Republic of Duration: 2015 Oct 28 → 2015 Oct 30 |
Publication series
Name | 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015 |
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Other
Other | 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015 |
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Country/Territory | Korea, Republic of |
City | Goyang City |
Period | 15/10/28 → 15/10/30 |
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