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3D Point Cloud Based Hybrid Maps Reconstruction for Indoor Environments

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Book cover Proceedings of 2013 Chinese Intelligent Automation Conference

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 256))

Abstract

In this article we investigate the problem of constructing a useful 3D hybrid map for both human being and service robots in the indoor environments. The objects in our laboratory include different tables, shelves, and pillar, which are of great importance for indoor service robot. We detail the components of our map building system and explain the essential techniques. The environment is detected in 3D point clouds, after sophisticated methods operating on point cloud data removing noise points and down sampling the data, we segment the data into different clusters, estimate the posture for clusters that can be recognized from library and replace it with VRML model we built in advance, then reconstruct surface for which cannot be recognized. Finally the preliminary hybrid maps are represented with the form of point cloud, VRML model and triangular meshes in 3DMapEidtor.

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Acknowledgments

This work is supported by National Natural Science Foundation of China (Grant No. 61273331), National 863 Key Program on Advanced Manufacturing Technology Field of China (Grant No. 2012AA041403) and Yaskawa Electric Corporation.

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Authors and Affiliations

  1. Research Institute of Robotics, Shanghai Jiao Tong University, No 800 DongChuan Road, Min Hang, Shanghai City, China

    Biao Zhang & Qixin Cao

Authors
  1. Biao Zhang
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  2. Qixin Cao
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Corresponding author

Correspondence to Biao Zhang .

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Editors and Affiliations

  1. , Department of Computer Science, Tsinghua University, Qinghua, Beijing, 100084, China, People's Republic

    Zengqi Sun

  2. Tsinghua University, Qinghua, Beijing, 100084, China, People's Republic

    Zhidong Deng

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© 2013 Springer-Verlag Berlin Heidelberg

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Zhang, B., Cao, Q. (2013). 3D Point Cloud Based Hybrid Maps Reconstruction for Indoor Environments. In: Sun, Z., Deng, Z. (eds) Proceedings of 2013 Chinese Intelligent Automation Conference. Lecture Notes in Electrical Engineering, vol 256. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-38466-0_1

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  • DOI: https://doi.org/10.1007/978-3-642-38466-0_1

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-38465-3

  • Online ISBN: 978-3-642-38466-0

  • eBook Packages: EngineeringEngineering (R0)

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