Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
MonoSLAM: Real-Time Single Camera SLAM
IEEE Transactions on Pattern Analysis and Machine Intelligence
Parallel Tracking and Mapping for Small AR Workspaces
ISMAR '07 Proceedings of the 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality
3D Robotic Mapping: The Simultaneous Localization and Mapping Problem with Six Degrees of Freedom
3D Robotic Mapping: The Simultaneous Localization and Mapping Problem with Six Degrees of Freedom
Nonlinear constraint network optimization for efficient map learning
IEEE Transactions on Intelligent Transportation Systems
Interactive 3D modeling of indoor environments with a consumer depth camera
Proceedings of the 13th international conference on Ubiquitous computing
KinectFusion: real-time 3D reconstruction and interaction using a moving depth camera
Proceedings of the 24th annual ACM symposium on User interface software and technology
Real-time model-based SLAM using line segments
ISVC'06 Proceedings of the Second international conference on Advances in Visual Computing - Volume Part II
KinectFusion: Real-time dense surface mapping and tracking
ISMAR '11 Proceedings of the 2011 10th IEEE International Symposium on Mixed and Augmented Reality
DTAM: Dense tracking and mapping in real-time
ICCV '11 Proceedings of the 2011 International Conference on Computer Vision
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Creating floor plans for large areas via manual surveying is labor-intensive and error-prone. In this paper, we present a system, Walk&Sketch, that creates floor plans of an indoor environment by a person walking through the environment at a normal strolling pace and taking videos using a consumer RGB-D camera. The method computes floor maps represented by polylines from a 3D point cloud based on precise frame-to-frame alignment. It aligns a reference frame with the floor and computes the frame-to-frame offsets from the continuous RGB-D input. Line segments at a certain height are extracted from the 3D point cloud, and are merged to form a polyline map, which can be further modified and annotated by users. The explored area is visualized as a sequence of polygons, providing users with the information on coverage. Experiments have done in various areas of an office building and have shown encouraging results.