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论文类型：会议论文

发表时间：2015-06-09

收录刊物：EI、CPCI-S、Scopus

页面范围：330-335

关键字：mobile robots; monocular visual odometry; ceiling vision; fast voxelization; 3D scene reconstruction

摘要：This paper presents a method applied for automated 3D scene reconstruction for mobile robots. A monocular visual odometry based on ceiling vision collected from a digital camera is implemented to estimate the robot's trajectory. To improve the capability of managing the large amount of data supplied by a 3D scanner, we adopt a fast scene voxelization algorithm where the 3D range data are stored in occupied voxel list. Moreover, local shape descriptors are calculated in a further step in voxel scale. For the purpose of fast and efficient convergence, a variant of ICP (Iterative Closest Point) algorithm is therefore proposed to accomplish multi-scenes registration by taking shape descriptors into account in correspondence phase. A series of experimental results demonstrate the performance of the proposed 3D indoor scene reconstruction method in an actual environment.