NDLI: A Real-Time Wall Detection Method for Indoor Environments

Content Provider	IEEE Xplore Digital Library
Author	Moradi, H. Jongmoo Choi Eunyoung Kim Sukhan Lee
Copyright Year	2006
Description	Author affiliation: Intelligent Syst. Res. Center, Sungkyunkwan Univ., Suwon (Moradi, H.; Jongmoo Choi; Eunyoung Kim; Sukhan Lee)
Abstract	This paper presents an effective and real-time approach for detecting walls in indoor environment. This approach relies on the fact that the rear of the opaque walls is not visible. Thus, to detect the walls in an indoor environment a set of hypothetical walls, based on the ceiling edges or ground level edges, are considered; and their validity is checked using point cloud, generated by a sensor. A certainty factor is calculated for each detected wall, which is updated continuously based on the newly gathered sensory information. Furthermore, the certainty of the walls can be updated using other source of information for better and more reliable wall detection. The novelty of this approach is in its capability to handle environments, with texture-less walls, in real-time. The algorithm has been implemented in simulation, and tested in real environment and has shown effective, reliable and real-time performance
Starting Page	4551
Ending Page	4557
File Size	7907733
Page Count	7
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.282158
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Indoor environments Clouds Data mining Layout Stereo vision Computer vision Cameras Intelligent robots Real time systems Image analysis map building Wall detection scene analysis
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Real-time feature-based 3D map reconstruction for stereo visual guidance and control of mobile robots in indoor environments

A multibaseline stereo system with active illumination and real-time image acquisition

3D Scene Modeling for Robot Navigation Using Region Based Stereo

Real-time stereo vision for urban traffic scene understanding

Fusion of Stereo-Camera and PMD-Camera Data for Real-Time Suited Precise 3D Environment Reconstruction

A fast stereo matching method for real time vehicle front perception with linear cameras

Real-time stereo and optical flow data fusion

Omni-directional stereo for making global map

Vision-based Indoor Scene Cognition Using a Spatial Probabilistic Modeling Method

A Real-Time Wall Detection Method for Indoor Environments

Similar Documents

Real-time feature-based 3D map reconstruction for stereo visual guidance and control of mobile robots in indoor environments

A multibaseline stereo system with active illumination and real-time image acquisition

3D Scene Modeling for Robot Navigation Using Region Based Stereo

Real-time stereo vision for urban traffic scene understanding

Fusion of Stereo-Camera and PMD-Camera Data for Real-Time Suited Precise 3D Environment Reconstruction

A fast stereo matching method for real time vehicle front perception with linear cameras

Real-time stereo and optical flow data fusion

Omni-directional stereo for making global map

Vision-based Indoor Scene Cognition Using a Spatial Probabilistic Modeling Method

A Real-Time Wall Detection Method for Indoor Environments