This paper describes an algorithm for generating compact 3D models of indoor environments with mobile robots. Our algorithm employs the expectation maximization algorithm to fit a low-complexity planar model to 3D data collected by range finders and a panoramic camera. The complexity of the model is determined during model fitting, by incrementally adding and removing surfaces. In a final post-processing step, measurements are converted into polygons and projected onto the surface model where possible. Empirical results obtained with a mobile robot illustrate that high-resolution models can be acquired in reasonable time.
@INPROCEEDINGS{Thrun01d,
AUTHOR = {Thrun, S. and Burgard, W. and Chakrabarti, D. and Emery, R. and Liu, Y. and Martin, C.},
TITLE = {A Real-time Algorithm for Acquiring Multi-Planar Volumetric Models with Mobile Robots},
YEAR = {2001},
BOOKTITLE = {Proceedings of the 10th International Symposium of Robotics Research (ISRR'01)},
editors = {Jarvis, R. and Zelinsky, A.},
publisher = {Springer},
address = {Lorne, Australia}
}