Automatic generation of indoor VR-models by a mobile robot with a laser range finder and a color camera

Abstract

We present an intuitive method to generate visually convincing 3D models of indoor environments from data collected by a single 2D laser range finder and a color camera. The 2D map created from the laser data forms the basis of a line model which serves as floor plan for the 3D model. The walls of this model are textured using the color images. In contrast to panoramic images where the resolution of the textures is substantially decreased by the panoramic mirror, our standard camera can provide high quality textures at moderate image resolutions.