Visual-SLAM based 3-dimensional modelling of indoor environments

Simla Özbayrak; Veli İlçi

Makale detayları

Visual-SLAM based 3-dimensional modelling of indoor environments

Yazarlar:

Simla Özbayrak | Veli İlçi

Yayıncı:

Murat YAKAR

Ana Başlıklar:

Photogrametry | Navigation and Position Fixing

Dergi:

International Journal of Engineering and Geosciences Vol.9 Issue 3, pp.368-376

Belge Tipi:

Makale

Yayın Tarihi:

10/2024

Belge Dili:

İngilizce

Document ID (Org No.):

2001331635

pISSN:

2548-0960

Anahtar kelimeler:

Özet:

 Simultaneous localization and mapping SLAM is used in many fields to enable robots to map their surroundings and locate themselves in new circumstances. Visual-SLAM VSLAM, which uses a camera sensor, and LiDAR-SLAM, which uses a light detection and ranging LiDAR sensor, are the most prevalent SLAM methods. Thanks to its benefits, including low-cost compared to LiDAR, low energy consumption, durability, and extensive environmental data, VSLAM is currently attracting much attention. This study aims to produce a three-dimensional 3D model of an indoor environment using image data captured by the stereo camera located on the Unmanned Ground Vehicle UGV. Easily measured objects from the field of operation were chosen to assess the generated models accuracy. The actual dimensions of the objects were measured, and these values were compared to those derived from the VSLAM-based 3D model. When the data were evaluated, it was found that the size of the object produced from the model could be varied by 2cm. The surface accuracy of the 3D model produced has also been analysed. For this investigation, areas where the walls and floor surfaces were flat in the field were selected, and the plane accuracy of these areas was analysed. The plain accuracy values of the specified surfaces were determined to be below 1cm.

 Simultaneous localization and mapping SLAM is used in many fields to enable robots to map their surroundings and locate themselves in new circumstances. Visual-SLAM VSLAM, which uses a camera sensor, and LiDAR-SLAM, which uses a light detection and ranging LiDAR sensor, are the most prevalent SLAM methods. Thanks to its benefits, including low-cost compared to LiDAR, low energy consumption, durability, and extensive environmental data, VSLAM is currently attracting much attention. This study aims to produce a three-dimensional 3D model of an indoor environment using image data captured by the stereo camera located on the Unmanned Ground Vehicle UGV. Easily measured objects from the field of operation were chosen to assess the generated models accuracy. The actual dimensions of the objects were measured, and these values were compared to those derived from the VSLAM-based 3D model. When the data were evaluated, it was found that the size of the object produced from the model could be varied by 2cm. The surface accuracy of the 3D model produced has also been analysed. For this investigation, areas where the walls and floor surfaces were flat in the field were selected, and the plane accuracy of these areas was analysed. The plain accuracy values of the specified surfaces were determined to be below 1cm.

 Simultaneous localization and mapping SLAM is used in many fields to enable robots to map their surroundings and locate themselves in new circumstances. Visual-SLAM VSLAM, which uses a camera sensor, and LiDAR-SLAM, which uses a light detection and ranging LiDAR sensor, are the most prevalent SLAM methods. Thanks to its benefits, including low-cost compared to LiDAR, low energy consumption, durability, and extensive environmental data, VSLAM is currently attracting much attention. This study aims to produce a three-dimensional 3D model of an indoor environment using image data captured by the stereo camera located on the Unmanned Ground Vehicle UGV. Easily measured objects from the field of operation were chosen to assess the generated models accuracy. The actual dimensions of the objects were measured, and these values were compared to those derived from the VSLAM-based 3D model. When the data were evaluated, it was found that the size of the object produced from the model could be varied by 2cm. The surface accuracy of the 3D model produced has also been analysed. For this investigation, areas where the walls and floor surfaces were flat in the field were selected, and the plane accuracy of these areas was analysed. The plain accuracy values of the specified surfaces were determined to be below 1cm.

 Simultaneous localization and mapping SLAM is used in many fields to enable robots to map their surroundings and locate themselves in new circumstances. Visual-SLAM VSLAM, which uses a camera sensor, and LiDAR-SLAM, which uses a light detection and ranging LiDAR sensor, are the most prevalent SLAM methods. Thanks to its benefits, including low-cost compared to LiDAR, low energy consumption, durability, and extensive environmental data, VSLAM is currently attracting much attention. This study aims to produce a three-dimensional 3D model of an indoor environment using image data captured by the stereo camera located on the Unmanned Ground Vehicle UGV. Easily measured objects from the field of operation were chosen to assess the generated models accuracy. The actual dimensions of the objects were measured, and these values were compared to those derived from the VSLAM-based 3D model. When the data were evaluated, it was found that the size of the object produced from the model could be varied by 2cm. The surface accuracy of the 3D model produced has also been analysed. For this investigation, areas where the walls and floor surfaces were flat in the field were selected, and the plane accuracy of these areas was analysed. The plain accuracy values of the specified surfaces were determined to be below 1cm.

Makale detayları

Visual-SLAM based 3-dimensional modelling of indoor environments

Yazarlar:

Simla Özbayrak | Veli İlçi

Yayıncı:

Murat YAKAR

Ana Başlıklar:

Photogrametry | Navigation and Position Fixing

Dergi:

International Journal of Engineering and Geosciences Vol.9 Issue 3, pp.368-376

Belge Tipi:

Makale

Yayın Tarihi:

10/2024

Belge Dili:

İngilizce

Document ID (Org No.):

2001331635

pISSN:

2548-0960

Indoor Modelling

Visual-SLAM

Unmanned Ground Vehicle

Stereo Camera

Sayı

Makale detayları

Visual-SLAM based 3-dimensional modelling of indoor environments

Yazarlar: Simla Özbayrak | Veli İlçi

Yayıncı: Murat YAKAR

Ana Başlıklar: Photogrametry | Navigation and Position Fixing

Dergi: International Journal of Engineering and Geosciences Vol.9 Issue 3, pp.368-376

Belge Tipi: Makale

Yayın Tarihi: 10/2024

Belge Dili: İngilizce

Document ID (Org No.): 2001331635

pISSN: 2548-0960

Indoor Modelling

Visual-SLAM

Unmanned Ground Vehicle

Stereo Camera

Sayı

Yazarlar:

Simla Özbayrak | Veli İlçi

Yayıncı:

Murat YAKAR

Ana Başlıklar:

Photogrametry | Navigation and Position Fixing

Dergi:

International Journal of Engineering and Geosciences Vol.9 Issue 3, pp.368-376

Belge Tipi:

Makale

Yayın Tarihi:

10/2024

Belge Dili:

İngilizce

Document ID (Org No.):

2001331635

pISSN:

2548-0960