AUTOMATED 2D MEASURING OF INTERIORS USING A MOBILE PLATFORM

Alexander Fietz, Sebastian M. Jackisch, Benjamin A. Visel, Dieter Fritsch

Abstract

This paper presents an approach for a fully automated measuring of a self-contained indoor scene in 2D using a mobile platform. A novel sensor is used, designed for the acquisition of precise floor plan scans, mounted on an ordinary mobile robot. The software framework is configured to optimize the accuracy and the completeness of the acquired data. Therefore an exploration strategy is presented that finds gaps in the data and determines the next best view in an explorative way. The scene is presented to the system as continuous line segments. Data management builds up the gathered point cloud in a homogeneous density, using the relevant and most accurate available information. Existing scan matching techniques are modified in a way to work robust and precise in the scenarios expected. The framework is tested in an exemplary indoor scene. Additionally, the scene is surveyed with a referencing system to build ground truth data and to enable an accuracy evaluation of the developed system.

References

  1. Besl, P.J. and McKay, N.D. (1992). A method for registration of 3D shapes. IEEE Transaction on Pattern Analyisis and Machine Intelligence 14, Nr. 2. p. 239 256.
  2. Choset, H. and Burdick, J. (1996). Sensor based motion planning: The hierarchical generalized voronoi graph. Ph.D. Thesis California Insitute of Technology, Passadena.
  3. Elfes, A.(1987). Sonar-based real world mapping and navigation. IEEE J. Robotics and Automation, RA3(3):249 265.
  4. Fraunhofer IAIS Projekt: VolksBot. http://www.volksbot.de/ (29.09.09).
  5. González-Ban˜os, H.H. and Latombe, J.C. (2002). Navigation strategies for exploring indoor environments. Int. J. of Robotics Research. 21(10-11):829-848.
  6. Kuhn, H. W. (1955). The hungarian method for the assignment problem. Naval Research Logistic Quarterly, 2 83-97.
  7. Kuipers, B., Froom, R., Lee, W.K. and Pierce, D. (1993). The semantic hierarchy in robot learning. In J. Connell and S. Mahadevan, editors, Robot Learning, Kluwer Academic Publishers, Boston, MA.
  8. Lu, Feng; Milios, Evangelos (1994). Robot pose estimation in unknown environments by matching 2d range scans. IEEE Computer Vision and Pattern Recognition Conference (CVPR).
  9. Niemeier, W. (2002). Ausgleichungsrechnung. de Gruyter, Berlin - New York, ISBN 3-11-014080-2.
  10. Nguyen V., Martinelli A., Tomatis N. and Siegwart, R. (2005). A comparison of line extraction algorithms using 2D laser rangefinder for indoor mobile robotics. Proc. Conference on Intelligent Robots and Systems, Aug 2005, Edmonton, Canada pp. 1929-1934.
  11. Schmidt, D., Luksch, T., Wettach, J. and Berns, K. (2006). Autonomous behavior-based exploration of office environments. 3rd International Conference on Informatics in Control, Automation and Robotics - ICINCO, Setubal, Portugal, August 1-5, 2006, pp. 235-240.
  12. Stachniss, C.,Haehnel, D. and Burgard, W. (2004). Exploration with active loop-closing for FastSLAM. In:Proceeding of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems. Sendai, Japan, pp.1505-1510.
  13. Thrun, S. (2002). Robotic Mapping: A survey. Technical Report CMU-CS-02-111, School of Computer Science, Carnegie Mellon University, Pittsburg
  14. Winkelbach, S., Rilk, M., Schoenfelder, C. and Wahl, F.M. (2004). Fast random sample matching of 3d fragments. Pattern Recognition, 26th DAGM Symposium. Volume 3175 of Lecture Notes in Computer Science., Springer p. 129-136.
  15. Yamauchi, B. (1997). Frontier-based approach for autonomous exploration. In: Proceedings of the IEEE International Symposium on Computational Intelligence, Robotics and Automation, pp. 146-151.
  16. Yaqub, T., Tordon, M.J. and Katupitiya, J. (2006). Line segment based scan matching for concurrent mapping and localization of a mobile robot. In: Proc. 9th International Conference on Control, Automation, Robotics and Vision, Singapore, pp.1-6.
Download


Paper Citation


in Harvard Style

Fietz A., M. Jackisch S., A. Visel B. and Fritsch D. (2010). AUTOMATED 2D MEASURING OF INTERIORS USING A MOBILE PLATFORM . In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-01-0, pages 115-120. DOI: 10.5220/0002877201150120


in Bibtex Style

@conference{icinco10,
author={Alexander Fietz and Sebastian M. Jackisch and Benjamin A. Visel and Dieter Fritsch},
title={AUTOMATED 2D MEASURING OF INTERIORS USING A MOBILE PLATFORM},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2010},
pages={115-120},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002877201150120},
isbn={978-989-8425-01-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - AUTOMATED 2D MEASURING OF INTERIORS USING A MOBILE PLATFORM
SN - 978-989-8425-01-0
AU - Fietz A.
AU - M. Jackisch S.
AU - A. Visel B.
AU - Fritsch D.
PY - 2010
SP - 115
EP - 120
DO - 10.5220/0002877201150120