Abstract
Recently, RGB-D camera has been used widely in indoor SLAM (Simultaneous Localization and Mapping) field. In this paper, we propose an efficient 3D mapping algorithm that considers appearance of dynamic objects. A full 3D mapping system estimates 6-DoF sensor pose and builds 3D voxel grid map simultaneously. In order to build a 3D map, effective method is proposed in terms of computation time. Depending on distance to the object each scan update frequency is varied. By controlling update frequency, we can build a 3D map efficiently. Experiments are carried out with RGB-D sensor and hand-held SLAM results are presented.
| Original language | English |
|---|---|
| Title of host publication | ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings |
| Publisher | IEEE Computer Society |
| Pages | 873-875 |
| Number of pages | 3 |
| ISBN (Electronic) | 9788993215120 |
| DOIs | |
| Publication status | Published - 2016 Jan 24 |
| Event | 16th International Conference on Control, Automation and Systems, ICCAS 2016 - Gyeongju, Korea, Republic of Duration: 2016 Oct 16 → 2016 Oct 19 |
Publication series
| Name | International Conference on Control, Automation and Systems |
|---|---|
| Volume | 0 |
| ISSN (Print) | 1598-7833 |
Other
| Other | 16th International Conference on Control, Automation and Systems, ICCAS 2016 |
|---|---|
| Country/Territory | Korea, Republic of |
| City | Gyeongju |
| Period | 16/10/16 → 16/10/19 |
Bibliographical note
Publisher Copyright:© 2016 Institute of Control, Robotics and Systems - ICROS.
All Science Journal Classification (ASJC) codes
- Artificial Intelligence
- Computer Science Applications
- Control and Systems Engineering
- Electrical and Electronic Engineering