Visual Mapping in Light-Crowded Indoor Environments

Jan Helge Klüssendorff; Kristian Ehlers; Erik Maehle

doi:10.1007/978-3-319-08338-4_66

Visual Mapping in Light-Crowded Indoor Environments

Jan Helge Klüssendorff, Kristian Ehlers, Erik Maehle

Institut für Technische Informatik

Abstract

Due to the recent success of affordable RGBD cameras, solutionsKlüssendorff, Jan Helgeto the Visual Simultaneous Localization and Mapping (VSLAM) problem has experienced a huge leap. To enableEhlers, Kristianaccurate mappingMaehle, Eriksolutions, most of the proposed solutions expect static environments. Thinking of industrial applications, there is no guarantee for static environments. The SLAM algorithm has to cope with moving objects like human beings. We present an approach to detect moving objects in RGBD camera images. The approach is based on point cloud and image filtering techniques. We present test results using publicly available datasets. We further show the performance and influence of the algorithm on mapping and on the accuracy of a visual SLAM system.

Originalsprache	Englisch
Titel	Intelligent Autonomous Systems 13
Redakteure/-innen	Emanuele Menegatti, Nathan Michael, Karsten Berns, Hiroaki Yamaguchi
Seitenumfang	10
Band	302
Erscheinungsort	Cham
Herausgeber (Verlag)	Springer International Publishing
Erscheinungsdatum	03.09.2015
Seiten	913-922
ISBN (Print)	978-3-319-08337-7
ISBN (elektronisch)	978-3-319-08338-4
DOIs	https://doi.org/10.1007/978-3-319-08338-4_66
Publikationsstatus	Veröffentlicht - 03.09.2015
Veranstaltung	13th International Conference on Intelligent Autonomous Systems - Padova, Italien Dauer: 14.07.2014 → 18.07.2014 Konferenznummer: 140839

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10.1007/978-3-319-08338-4_66

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@inproceedings{17c6ba1f241e4bddb8281a71339a5827,

title = "Visual Mapping in Light-Crowded Indoor Environments",

abstract = "Due to the recent success of affordable RGBD cameras, solutionsKl{\"u}ssendorff, Jan Helgeto the Visual Simultaneous Localization and Mapping (VSLAM) problem has experienced a huge leap. To enableEhlers, Kristianaccurate mappingMaehle, Eriksolutions, most of the proposed solutions expect static environments. Thinking of industrial applications, there is no guarantee for static environments. The SLAM algorithm has to cope with moving objects like human beings. We present an approach to detect moving objects in RGBD camera images. The approach is based on point cloud and image filtering techniques. We present test results using publicly available datasets. We further show the performance and influence of the algorithm on mapping and on the accuracy of a visual SLAM system.",

author = "Kl{\"u}ssendorff, \{Jan Helge\} and Kristian Ehlers and Erik Maehle",

year = "2015",

month = sep,

day = "3",

doi = "10.1007/978-3-319-08338-4\_66",

language = "English",

isbn = "978-3-319-08337-7",

volume = "302",

series = "Advances in Intelligent Systems and Computing",

publisher = "Springer International Publishing",

pages = "913--922",

editor = "Emanuele Menegatti and Nathan Michael and Karsten Berns and Hiroaki Yamaguchi",

booktitle = "Intelligent Autonomous Systems 13",

note = "13th International Conference on Intelligent Autonomous Systems, IAS 2014 ; Conference date: 14-07-2014 Through 18-07-2014",

}

Klüssendorff, JH, Ehlers, K & Maehle, E 2015, Visual Mapping in Light-Crowded Indoor Environments. in E Menegatti, N Michael, K Berns & H Yamaguchi (Hrsg.), Intelligent Autonomous Systems 13. Bd. 302, Advances in Intelligent Systems and Computing, Bd. 302, Springer International Publishing, Cham, S. 913-922, 13th International Conference on Intelligent Autonomous Systems, Padova, Italien, 14.07.14. https://doi.org/10.1007/978-3-319-08338-4_66

Visual Mapping in Light-Crowded Indoor Environments. / Klüssendorff, Jan Helge; Ehlers, Kristian ; Maehle, Erik.
Intelligent Autonomous Systems 13. Hrsg. / Emanuele Menegatti; Nathan Michael; Karsten Berns; Hiroaki Yamaguchi. Band 302 Cham: Springer International Publishing, 2015. S. 913-922 (Advances in Intelligent Systems and Computing; Band 302).

Publikation: Kapitel in Büchern/Berichten/Konferenzbänden › Konferenzbeitrag › Begutachtung

TY - GEN

T1 - Visual Mapping in Light-Crowded Indoor Environments

AU - Klüssendorff, Jan Helge

AU - Ehlers, Kristian

AU - Maehle, Erik

N1 - Conference code: 140839

PY - 2015/9/3

Y1 - 2015/9/3

N2 - Due to the recent success of affordable RGBD cameras, solutionsKlüssendorff, Jan Helgeto the Visual Simultaneous Localization and Mapping (VSLAM) problem has experienced a huge leap. To enableEhlers, Kristianaccurate mappingMaehle, Eriksolutions, most of the proposed solutions expect static environments. Thinking of industrial applications, there is no guarantee for static environments. The SLAM algorithm has to cope with moving objects like human beings. We present an approach to detect moving objects in RGBD camera images. The approach is based on point cloud and image filtering techniques. We present test results using publicly available datasets. We further show the performance and influence of the algorithm on mapping and on the accuracy of a visual SLAM system.

AB - Due to the recent success of affordable RGBD cameras, solutionsKlüssendorff, Jan Helgeto the Visual Simultaneous Localization and Mapping (VSLAM) problem has experienced a huge leap. To enableEhlers, Kristianaccurate mappingMaehle, Eriksolutions, most of the proposed solutions expect static environments. Thinking of industrial applications, there is no guarantee for static environments. The SLAM algorithm has to cope with moving objects like human beings. We present an approach to detect moving objects in RGBD camera images. The approach is based on point cloud and image filtering techniques. We present test results using publicly available datasets. We further show the performance and influence of the algorithm on mapping and on the accuracy of a visual SLAM system.

UR - https://www.scopus.com/pages/publications/84945977926

U2 - 10.1007/978-3-319-08338-4_66

DO - 10.1007/978-3-319-08338-4_66

M3 - Conference contribution

SN - 978-3-319-08337-7

VL - 302

T3 - Advances in Intelligent Systems and Computing

SP - 913

EP - 922

BT - Intelligent Autonomous Systems 13

A2 - Menegatti, Emanuele

A2 - Michael, Nathan

A2 - Berns, Karsten

A2 - Yamaguchi, Hiroaki

PB - Springer International Publishing

CY - Cham

T2 - 13th International Conference on Intelligent Autonomous Systems

Y2 - 14 July 2014 through 18 July 2014

ER -

Visual Mapping in Light-Crowded Indoor Environments

Abstract

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