3D Indoor Mapping Based on Camera Visual Odometry Using Point Cloud

Recently, 3D visualization technologies such as point cloud are growing rapidly and are in demand for environmental mapping needs because they have the ability to represent the real world in a more complete and in depth way, as well as new and more advanced visual experiences. The point cloud model is able to represent objects well through a series of points and is increasingly used in various fields of research. While 3D visualization technology is growing, several platforms such as humanoid robots, mobile robots, and automatic cars require mapping technology that is able to properly map the surrounding environment with a better display to improve intelligence and decision-making abilities. To overcome the problem of mapping, in this research an experiment was conducted to combine point cloud to form a map based on a visual odometry from stereo camera.