NDLI: Mapping indoor environments based on human activity

Content Provider	IEEE Xplore Digital Library
Author	Grzonka, S. Dijoux, F. Karwath, A. Burgard, W.
Copyright Year	2010
Description	Author affiliation: Department of Computer Science, University of Freiburg, D-79110, Germany (Grzonka, S.; Dijoux, F.; Karwath, A.; Burgard, W.)
Abstract	We present a novel approach to build approximate maps of structured environments utilizing human motion and activity. Our approach uses data recorded with a data suit which is equipped with several IMUs to detect movements of a person and door opening and closing events. In our approach we interpret the movements as motion constraints and door handling events as landmark detections in a graph-based SLAM framework. As we cannot distinguish between individual doors, we employ a multi-hypothesis approach on top of the SLAM system to deal with the high data-association uncertainty. As a result, our approach is able to accurately and robustly recover the trajectory of the person. We additionally take advantage of the fact that people traverse free space and that doors separate rooms to recover the geometric structure of the environment after the graph optimization. We evaluate our approach in several experiments carried out with different users and in environments of different types.
Starting Page	476
Ending Page	481
File Size	1582667
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509976
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Indoor environments Humans Event detection Motion detection Simultaneous localization and mapping Uncertainty Mobile robots Robot kinematics Buildings Trajectory
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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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
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