A Study on Indoor 3D Modeling by SOKUIKI Sensor and Omnidirectional Camera

In this paper, we propose a new 3D space modeling method for a SLAM (Simultaneous Localization and Mapping) by using distance measurement information on the horizontal plane by a SOKUIKI sensor and a 360-degree panoramic image by an omnidirectional camera. The proposed method can suppress the measurement time and the amount of the measurement data in comparison with the conventional SLAM. We evaluate the proposed method by some measurement experiments. We show that it is possible to measure the size of simultaneous objects with a high degree of accuracy.