Abstract
3D Mapping using RBG-D sensor is a hot topic in the robotic field. This paper proposes a sub-map stitching method to build map in the large scale indoor environment. We design a special landmark, and place it in the environment. Every sub-map contains those landmarks, and then can be stitched by BA optimization. The result shows that the map error is blow 1 % in a room with the dimensions of 13 m × 8 m.
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CITATION STYLE
Zhu, X., Cao, Q., Yokoi, H., & Jiang, Y. (2016). Large scale indoor 3D mapping using RGB-D sensor. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 9834 LNCS, pp. 313–321). Springer Verlag. https://doi.org/10.1007/978-3-319-43506-0_27
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