Reproduction of 3-D Model of Indoor Environment by Moveable Robot with Single 2-D camera for Navigation
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Abstract
The creation of a 3-D model of indoor environments is increasingly gaining more importance due to the wide variety of applications. Applications are the representation of building, indoor facilities information representation, etc. This paper represents an approach to create visually persuasive 3-D models of indoor corridor based on the mobile robot that is connected to a single 2-D camera. The sequence of images acquired from the 2-D camera and distance between surrounding and the robot is determined. In this paper, the new approach for distance estimation between the wall and the robot is proposed. Distance estimation is achieved using skirting height as a reference. The panoramic stitching of images generates the walls of the indoor corridor. Doors in the corridor are identified using an edge-based approach. The proposed approach is tested for real datasets and getting visually effective results. The proposed approach is intended to address navigation in complex buildings.
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References
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