Growing 3D maps from 2D SLAM maps obtained by indoor SLAM with heterogeneous mobile robots

Download

index.pdf

Date

2015

Author

Çetinkaya, Burak

Metadata

Show full item record

Item Usage Stats

132
views

108
downloads

This thesis focuses on growing 3D structure of an indoor environment from 2D maps constructed by Simultaneous Localization and Mapping (SLAM) algorithm at different height levels explored by heterogeneous vehicles. Vehicles differing mainly in their dynamics explore an indoor environment area using laser scanners at different height levels and creates 2D SLAM maps for each height level based on FastSLAM algorithm. This algorithm utilizes feature based scan matching and natural landmarks. These obtained 2D SLAM maps are then combined towards growing a 3D map in which three consecutive steps are followed namely; creating correspondences on the generated maps for correct alignment of the maps, generating correspondence points to use while connecting maps to each other and tiling the points which is the extrapolation method used between maps. Correspondences are to be established in the most adequate manner between the maps using topological adjacency relations via extracted key features from the maps so that these features can be matched and proper alignment between the maps can be established. Subsequently, regions that show similarities and dissimilarities between the maps are obtained based on the affinity of the grids belong to corresponding regions. Although, similar regions from different height levels are easy to grow from 2D to 3D by connecting the boundary regions as an extrapolation approach, for dissimilar regions, it is hard to find correspondence points to be used efficiently in an extrapolation. The novel approach presented in this thesis focuses on the generation of correspondence points and their extrapolation between SLAM maps. Tree structures are established inside the dissimilar regions and connected vertices on these tree structures are utilized as correspondence points. Extrapolation is generated by tiling that involves triangular meshing between generated correspondences between maps which eventually become surfaces of the 3D structures completed 2D maps. The thesis concludes with an intensive discussion of actual implementation on hardware followed by a full sensitivity analysis of the 3D map growing system proposed.

Subject Keywords

Digital maps., Digital mapping., Mobile robots., Autonomous robots., Three-dimensional imaging., Cartography

URI

http://etd.lib.metu.edu.tr/upload/12619665/index.pdf
https://hdl.handle.net/11511/25381

Collections

Graduate School of Natural and Applied Sciences, Thesis

Suggestions

OpenMETU
Core

Steganography through perspective invariance Yaşaroğlu, Yağız; Alatan, Abdullah Aydın; Department of Electrical and Electronics Engineering (2012) A novel approach for watermarking of 3D models is introduced, for which data is embedded into 3D models, whereas extracted from their projected 2D visual or 2D-plus-depth representations. Such a watermarking system is valuable, since most of the 3D content is being consumed as 2D visual data. Apart from the efficiency of embedding data into 3D models before generation of arbitrary 2D projections, in some use cases, such as free viewpoint video or computer games, 2D content has to be rendered at the client, ...
3D indirect shape retrieval based on hand interaction Irmak, Erdem Can; Sahillioğlu, Yusuf; Department of Game Technologies (2017) In this thesis, a novel 3D indirect shape analysis method is presented which successfully retrieves 3D shapes based on the hand-object interaction. In the first part of the study, the human hand information is processed and trans- ferred to the virtual environment by Leap Motion Controller. Position and rotation of the hand, the angle of the finger joints are used for this part in our method. Also, in this approach, a new type of feature, which we call inter- action point, is introduced. These interaction p...
3-d time-varying scene capture technologies - A survey STOYKOVA, Elena; Alatan, Abdullah Aydın; BENZİE, Philip; GRAMMALİDİS, Nikos; MALASSİOTİS, Sotiris; OSTERMANN, Joern; PİEKH, Sergej; Sainov, Ventseslav; THEOBALT, Christian; THEVAR, Thangavel; ZABULİS, Xenophon (2007-11-01) Advances in image sensors and evolution of digital computation is a strong stimulus for development and implementation of sophisticated methods for capturing, processing and analysis of 3-D data from dynamic scenes. Research on perspective time-varying 3-D scene capture technologies is important for the upcoming 3DTV displays. Methods such as shape-from-texture, shape-from-shading, shape-from-focus, and shape-from-motion extraction can restore 3-D shape information from a single camera data. The existing te...
Extraction of 3D transform and scale invariant patches from range scans Akagunduz, Erdern; Ulusoy, İlkay (2007-06-22) An algorithm is proposed to extract transformation and scale invariant 3D fundamental elements from the surface structure of 3D range scan data. The surface is described by mean and Gaussian curvature values at every data point at various scales and a scale-space search is performed in order to extract the fundamental structures and to estimate the location and the scale of each fundamental structure. The extracted fundamental structures can later be used as nodes in a topological graph where the links betw...
Partial 3-D Correspondence from Shape Extremities Sahillioğlu, Yusuf; Yemez, Y. (2014-09-01) We present a 3-D correspondence method to match the geometric extremities of two shapes which are partially isometric. We consider the most general setting of the isometric partial shape correspondence problem, in which shapes to be matched may have multiple common parts at arbitrary scales as well as parts that are not similar. Our rank-and-vote-and-combine algorithm identifies and ranks potentially correct matches by exploring the space of all possible partial maps between coarsely sampled extremities. Th...

Citation Formats

B. Çetinkaya, “Growing 3D maps from 2D SLAM maps obtained by indoor SLAM with heterogeneous mobile robots,” M.S. - Master of Science, Middle East Technical University, 2015.