Mapping walls of indoor environment using moving RGB-D sensor
Ismaila, Trilaksono B.R.a, Adiprawita W.a
a School of Electrical Engineering and Informatics, Institut Teknologi Bandung, Bandung, 40123, Indonesia
Abstract
© 2018 IEEE.Inferring walls configuration of indoor environment could help robot “understand” the environment better. This allows the robot to execute a task that involves inter-room navigation, such as picking an object in the kitchen. In this paper, we present a method to inferring walls configuration from a moving RGB-D sensor. Our goal is to combine a simple wall configuration model and fast wall detection method in order to get a system that works online, is real-time, and does not need a Manhattan World assumption. We tested our preliminary work, i.e. wall detection and measurement from moving RGB-D sensor, with MIT Stata Center Dataset. The performance of our method is reported in terms of accuracy and speed of execution.
Author keywords
Configuration model,Detection methods,Indoor environment,Manhattan world assumption,Real time,Rgb-d sensors,Semantic mapping,SLAM
Indexed keywords
Indoor environment,RGB-D sensor,Semantic mapping,SLAM