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International Journal of Computer Engineering in Research Trends. Scholarly, Peer-Reviewed,Open Access and Multidisciplinary

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Reproduction of 3-D Model of Indoor Environment by Moveable Robot with Single 2-D camera for Navigation

Mr. Honnaraju B, Dr. Murali S, , ,
Dept. of Computer Science and Engineering, Maharaja Institute of Technology Mysore, Karnataka, India.

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.

Mr. Honnaraju B, Dr. Murali S."Reproduction of 3-D Model of Indoor Environment by Moveable Robot with Single 2-D camera for Navigation". International Journal of Computer Engineering In Research Trends (IJCERT), ISSN:2349-7084, Vol.7, Issue 03,pp.6-12, March - 2020, URL:,

Keywords : distance, panoramic stitching, skirting, 3-D modelling, segmentation, door detection

1.	Biber P. Andreasson H., Duckett T. and Schilling A: 3D Modeling of Indoor Environments by a Mobile Robot with a Laser Scanner and Panoramic Camera. Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2004. 
2.	Fleck S, Busch F, Biber P, Andreasson H, and Straer W. Omni-Direction 3D modeling on a Mobile Robot using Graph Cuts.” Proc. IEEE Int. Conf. on Robotics and Automation (ICRA) 2005.
3.	Biber P, Fleck S, Busch F, Wand M, Duckett T  and Stranger W. 3D Modeling of Indoor Environments by a Mobile Platform with Laser Scanner and Panoramic Camera. Proc. 13th Europen Signal Processing Conference (EUSIPCO) 2005.
4.	Thrun .S, et al, " A Real-Time Expectation-Maximization Algorithm for Acquiring Multi-Planar Maps of Indoor Environments with Mobile Robots.", IEEE Trans. On Robotics and Automation, 20(3), pp. 433-442, 2003.
5.	Christian Weiss and Andreas Zell, Automatic Generation of Indoor VR-Models by a Mobile Robot with a Laser Range Finder and a Color Camera. 2011
6.	Lucia Diaz-Vilarino, Kourosh Khoshelham, Joaquin Martinez-Sanchez, and Pedro Arias, "3D Modeling of Building Indoor Spaces and Closed Door from Imagery and Point Clouds.", Sensors in 2015.

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