3D modeling of indoor environments by a mobile robot with a laser scanner and panoramic camera
- 28 September 2004
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 4, 3430-3435
- https://doi.org/10.1109/iros.2004.1389947
Abstract
We present a method to acquire a realistic, visually convincing 3D model of indoor office environments based on a mobile robot that is equipped with a laser range scanner and a panoramic camera. The data of the 2D laser scans are used to solve the SLAM problem and to extract walls. Textures for walls and floor are built from the images of a calibrated panoramic camera. Multi-resolution blending is used to hide seams in the generated texturesKeywords
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