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This paper presents a real-time algorithm for acquiring compact three-dimensional maps of indoor environments, using a mobile robot equipped with range and imaging sensors. Building on previous work on real-time pose estimation during mapping, our approach extends the popular expectation-maximization algorithm to multisurface models, and makes it amenable to real-time execution. Maps acquired by our algorithm consist of compact sets of textured polygons that can be visualized interactively. Experimental results obtained in corridor-type environments illustrate that compact and accurate maps can be acquired in real time and in a fully automated fashion.
Published in:
Robotics and Automation, IEEE Transactions on
(Volume:20
,
Issue:
3
)
Date of Publication: June 2004
- Page(s):
- 433 - 443
- ISSN :
- 1042-296X
- INSPEC Accession Number:
- 8210537
- Digital Object Identifier :
- 10.1109/TRA.2004.825520
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 07 June 2004
- Issue Date :
- June 2004
- Sponsored by :
- IEEE Robotics and Automation Society
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