Three-Dimensional Indoor Mobile Mapping With Fusion of Two-Dimensional Laser Scanner and RGB-D Camera Data

CORC > 厦门大学 > 信息技术－已发表论文

	Three-Dimensional Indoor Mobile Mapping With Fusion of Two-Dimensional Laser Scanner and RGB-D Camera Data
	Wen, Chenglu ; Qin, Ling ; Zhu, Qingyuan ; Wang, Cheng ; Li, Jonathan ; Wen CL(温程璐) ; Zhu QY(祝青园) ; Wang C(王程) ; Li J(李军)
刊名	http://dx.doi.org/10.1109/LGRS.2013.2279872
	2014
英文摘要	Natural Foundation of Fujian Providence [2011J05159]; Fundamental Research Funds for Central Universities [2011121045]; Three-dimensional mobile mapping in indoor environment, mostly global navigation satellite system-denied space, is to consecutively align the frames to build a global 3-D map of an indoor environment. One of the major difficulties of the current solutions is the failure at the insufficient overlapping between the frames, which is the reality of a lack of correspondences between the frames. To overcome this problem, a 3-D indoor mobile mapping system that integrates a 2-D laser scanner, and an RGB-Depth camera is presented in this letter. In this system, a fusion-iterative closest point (ICP) method, which combines the 2-D mobile platform pose from a Rao-Blackwellized particle filter estimation, an ICP, and a generalized-ICP method, is proposed for the consecutive frame alignment. Fusion-ICP achieves effective frame alignment, particularly in solving the insufficient overlapping frame alignment problem. Comparative experiments were conducted to evaluate the mapping system. The experimental results demonstrate the effectiveness and efficiency of our system for 3-D indoor mobile mapping.
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
内容类型	期刊论文
源URL	[http://dspace.xmu.edu.cn/handle/2288/92711]
专题	信息技术－已发表论文
推荐引用方式 GB/T 7714	Wen, Chenglu,Qin, Ling,Zhu, Qingyuan,et al. Three-Dimensional Indoor Mobile Mapping With Fusion of Two-Dimensional Laser Scanner and RGB-D Camera Data[J]. http://dx.doi.org/10.1109/LGRS.2013.2279872,2014.
APA	Wen, Chenglu.,Qin, Ling.,Zhu, Qingyuan.,Wang, Cheng.,Li, Jonathan.,...&李军.(2014).Three-Dimensional Indoor Mobile Mapping With Fusion of Two-Dimensional Laser Scanner and RGB-D Camera Data.http://dx.doi.org/10.1109/LGRS.2013.2279872.
MLA	Wen, Chenglu,et al."Three-Dimensional Indoor Mobile Mapping With Fusion of Two-Dimensional Laser Scanner and RGB-D Camera Data".http://dx.doi.org/10.1109/LGRS.2013.2279872 (2014).