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arXiv · 1803.10687

Mapping Walls of Indoor Environment using RGB-D Sensor

Ismail Rusli·Bambang Riyanto Trilaksono·Widyawardana Adiprawita
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Abstract

Inferring walls configuration of indoor environment could help robot "understand" the environment better. This allows the robot to execute a task that involves inter-room navigation, such as picking an object in the kitchen. In this paper, we present a method to inferring walls configuration from a moving RGB-D sensor. Our goal is to combine a simple wall configuration model and fast wall detection method in order to get a system that works online, is real-time, and does not need a Manhattan World assumption. We tested our preliminary work, i.e. wall detection and measurement from moving RGB-D sensor, with MIT Stata Center Dataset. The performance of our method is reported in terms of accuracy and speed of execution.

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Ismail Rusli, Bambang Riyanto Trilaksono, Widyawardana Adiprawita. 2018-03-28. Mapping Walls of Indoor Environment using RGB-D Sensor. https://arxiv.org/abs/1803.10687

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