相关论文: Multi-Sensor Integration for Indoor 3D Reconstruct…

This article describes the design and development of a system for remote indoor 3D monitoring using an undetermined number of Microsoft(R) Kinect sensors. In the proposed client-server system, the Kinect cameras can be connected to…

Sensing the medical scenario can ensure the safety during the surgical operations. So, in this regard, a monitor platform which can obtain the accurate location information of the surgery room is desperately needed. Compared to 2D camera…

Indoor navigation aims at performing navigation within buildings. In scenes like home and factory, most intelligent mobile devices require an functionality of routing to guide itself precisely through indoor scenes to complete various tasks…

In the field of resource-constrained robots and the need for effective place recognition in multi-robotic systems, this article introduces RecNet, a novel approach that concurrently addresses both challenges. The core of RecNet's…

We present a portable device to capture both shape and reflectance of an indoor scene. Consisting of a Kinect, an IR camera and several IR LEDs, our device allows the user to acquire data in a similar way as he/she scans with a single…

An increasing number of systems use indoor positioning for many scenarios such as asset tracking, health care, games, manufacturing, logistics, shopping, and security. Many technologies are available and the use of depth cameras is becoming…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

In this paper, we propose a novel method to jointly solve scene layout estimation and global registration problems for accurate indoor 3D reconstruction. Given a sequence of range data, we first build a set of scene fragments using…

This paper presents an algorithm for indoor layout estimation and reconstruction through the fusion of a sequence of captured images and LiDAR data sets. In the proposed system, a movable platform collects both intensity images and 2D LiDAR…

Indoor SLAM often suffers from issues such as scene drifting, double walls, and blind spots, particularly in confined spaces with objects close to the sensors (e.g. LiDAR and cameras) in reconstruction tasks. Real-time visualization of…

Towards robust and convenient indoor shopping mall navigation, we propose a novel learning-based scheme to utilize the high-level visual information from the storefront images captured by personal devices of users. Specifically, we…

Creating 3D semantic reconstructions of environments is fundamental to many applications, especially when related to autonomous agent operation (e.g., goal-oriented navigation or object interaction and manipulation). Commonly, 3D semantic…

Datasets have gained an enormous amount of popularity in the computer vision community, from training and evaluation of Deep Learning-based methods to benchmarking Simultaneous Localization and Mapping (SLAM). Without a doubt, synthetic…

Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…

This paper presents a novel indoor layout estimation system based on the fusion of 2D LiDAR and intensity camera data. A ground robot explores an indoor space with a single floor and vertical walls, and collects a sequence of intensity…

Depth map fusion is an essential part in both stereo and RGB-D based 3-D reconstruction pipelines. Whether produced with a passive stereo reconstruction or using an active depth sensor, such as Microsoft Kinect, the depth maps have noise…

The idea of cooperative perception is to benefit from shared perception data between multiple vehicles and overcome the limitations of on-board sensors on single vehicle. However, the fusion of multi-vehicle information is still challenging…

With the development of cheap image sensors, the amount of available image data have increased enormously, and the possibility of using crowdsourced collection methods has emerged. This calls for development of ways to handle all these…

A core procedure of pavement management systems is data collection. The modern technologies which are used for this purpose, such as point-based lasers and laser scanners, are too expensive to purchase, operate, and maintain. Thus, it is…

The ultimate goal of this indoor mapping research is to automatically reconstruct a floorplan simply by walking through a house with a smartphone in a pocket. This paper tackles this problem by proposing FloorNet, a novel deep neural…