NDLI: Human augmented mapping for indoor environments using a stereo camera

Content Provider	IEEE Xplore Digital Library
Author	Soohwan Kim Howon Cheong Ju-Hong Park Sung-Kee Park
Copyright Year	2009
Description	Author affiliation: Korea Institute of Science and Technology, 39-1 Hawolgok-Dong, Wolsong-Gil 5, Seongbuk- Gu, Seoul, Republic of Korea, Korea (Sung-Kee Park) \|\| MtekVision Co, Ltd., 3F, World Meridian Venture Center II, 426-5, Gasan-Dong, Geumchun-Gu, Seoul, Republic of Korea, Korea (Ju-Hong Park) \|\| Korea Institute of Science and Technology, Korea (Soohwan Kim; Howon Cheong)
Abstract	In this paper, we suggest a new method of human augmented mapping for indoor environments using only a stereo camera. Through user's help, a robot with a stereo camera can investigate the environment without failure and even more efficiently. Moreover, the user can share the information about the environment with the robot and add semantic information to the environmental map. We employ PCA features for visual landmarks and a hybrid map for map representation. Particularly, we define two types of nodes, U/R-nodes and divide the map building into three processes, User's Guidance, Robot's Map Revision, and Robot's Map Completion. We implemented a human augmented mapping system with a stereo camera and demonstrated it in rectangular-shaped corridors. From the comparison with a manually-built map, we showed the feasibility of the environmental map generated by our proposed method.
Starting Page	5609
Ending Page	5614
File Size	1695161
Page Count	6
File Format	PDF
ISBN	9781424438037
DOI	10.1109/IROS.2009.5354128
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Humans Indoor environments Robot vision systems Robot sensing systems Sonar navigation Intelligent robots Mobile robots Simultaneous localization and mapping Smart cameras USA Councils
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
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