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Room layout estimation from rapid omnidirectional exploration

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Title: Room layout estimation from rapid omnidirectional exploration
Authors: Lukierski, R
Leutenegger, S
Davison, AJ
Item Type: Conference Paper
Abstract: A new generation of practical, low-cost indoor robots is now using wide-angle cameras to aid navigation, but usually this is limited to position estimation via sparse feature-based SLAM. Such robots usually have little global sense of the dimensions, demarcation or identities of the rooms they are in, information which would be very useful to enable behaviour with much more high level intelligence. In this paper we show that we can augment an omni-directional SLAM pipeline with straightforward dense stereo estimation and simple and robust room model fitting to obtain rapid and reliable estimation of the global shape of typical rooms from short robot motions. We have tested our method extensively in real homes, offices and on synthetic data. We also give examples of how our method can extend to making composite maps of larger rooms, and detecting room transitions.
Issue Date: 24-Jul-2017
Date of Acceptance: 25-Feb-2017
URI: http://hdl.handle.net/10044/1/49081
DOI: https://dx.doi.org/10.1109/ICRA.2017.7989747
ISBN: 978-1-5090-4633-1
Publisher: IEEE
Journal / Book Title: Robotics and Automation (ICRA), 2017 IEEE International Conference on
Copyright Statement: © 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Sponsor/Funder: Dyson Technology Limited
Dyson Technology Limited
Funder's Grant Number: PO: 4500098215
PO 4500285622
Conference Name: IEEE International Conference on Robotics and Automation (ICRA), 2017
Publication Status: Published
Start Date: 2017-05-29
Finish Date: 2017-06-03
Conference Place: Singapore
Appears in Collections:Computing



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