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3D Map Generation System for Indoor Autonomous Navigation  

Moon, SungTae (한국항공우주연구원 융합기술연구팀)
Han, Sang-Hyuck (한국항공우주연구원 융합기술연구팀)
Eom, Wesub (한국항공우주연구원 우주과학연구팀)
Kim, Youn-Kyu (한국항공우주연구원 우주과학연구팀)
Publication Information
Aerospace Engineering and Technology / v.11, no.2, 2012 , pp. 140-148 More about this Journal
Abstract
For autonomous navigation, map, pose tracking, and finding the shortest path are required. Because there is no GPS signal in indoor environment, the current position should be recognized in the 3D map by using image processing or something. In this paper, we explain 3D map creation technology by using depth camera like Kinect and pose tracking in 3D map by using 2D image taking from camera. In addition, the mechanism of avoiding obstacles is discussed.
Keywords
Indoor Autonomous Navigation; Kinect; 3D Map; Pose Tracking; Shortest Path Algorithm;
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