Active stereo based compact mapping

In this paper we propose a method for extracting the planes from a 3D dense map. Three-dimensional data is acquired using active stereo in order to fill texture gaps which are typical in indoor environments. Then, a randomized SLAM algorithm recently proposed by the authors is applied to compute the 3D map by teleoperating a mobile robot. A 3D mesh generation algorithm specially designed to triangulate not solids but open objects, is the basis for computing the main planes in the map after clustering the normals of the vertices in the mesh. Finally, we present our experimental results in indoor environments.