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Full-Text Articles in Physical Sciences and Mathematics
Depth Camera Based Indoor Mobile Robot Localization And Navigation, Joydeep Biswas, Manuela M. Veloso
Depth Camera Based Indoor Mobile Robot Localization And Navigation, Joydeep Biswas, Manuela M. Veloso
Computer Science Department Faculty Publication Series
The sheer volume of data generated by depth cameras provides a challenge to process in real time, in particular when used for indoor mobile robot localization and navigation. We introduce the Fast Sampling Plane Filtering (FSPF) algorithm to reduce the volume of the 3D point cloud by sampling points from the depth image, and classifying local grouped sets of points as belonging to planes in 3D (the “plane filtered” points) or points that do not correspond to planes within a specified error margin (the “outlier” points). We then introduce a localization algorithm based on an observation model that down-projects the …
Planar Polygon Extraction And Merging From Depth Images, Joydeep Biswas, Manuela M. Veloso
Planar Polygon Extraction And Merging From Depth Images, Joydeep Biswas, Manuela M. Veloso
Computer Science Department Faculty Publication Series
— There has been considerable interest recently in building 3D maps of environments using inexpensive depth cameras like the Microsoft Kinect sensor. We exploit the fact that typical indoor scenes have an abundance of planar features by modeling environments as sets of plane polygons. To this end, we build upon the Fast Sampling Plane Filtering (FSPF) algorithm that extracts points belonging to local neighborhoods of planes from depth images, even in the presence of clutter. We introduce an algorithm that uses the FSPF-generated plane filtered point clouds to generate convex polygons from individual observed depth images. We then contribute an …