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In this paper, a realtime pseudo-structure extraction algorithm for 3D indoor point cloud data (PCD) is proposed. This algorithm is called Convex Cut (CC) because of its two main steps: cutting the PCD with arbitrary planes, and extracting convex parts. CC can be used as a preprocessing module for other existing algorithms to extract static parts in dynamic(More)
In indoor environments, there exists a few distinctive indoor spaces' features (ISFs). However, up to our knowledge, there is no algorithm that fully utilizes ISF for accurate 3-D SLAM. In this letter, we suggest a sensor system that efficiently captures ISF and propose an algorithm framework that accurately estimates sensor's 3-D poses by utilizing ISF.(More)
In this study, four infiltration facilities (permeable pavement, infiltration gutter, infiltration trench, and infiltration well) have been investigated and compared with their flood runoff reduction effect. The SEEP/W model was used to estimate the infiltration amount of each facility, and the flood runoff reduction effect was quantified by the decrease in(More)
In this paper we analyze the differences in the EKF-SLAM frameworks that are constructed using different coordinate system. First, we derive the EKF equations in the world coordinate system through modification of the EKF equations in the robot coordinate system. When the reference coordinate system is changed, the equations change due to its nonlinear(More)
Analysis on causes of inconsistency of Extended Kalman Filter (EKF) Simultaneous Localization And Mapping (SLAM) is mentioned in this paper. The effect of noise models and observation models on the inconsistent behavior of EKF SLAM was examined. In addition, the effect of registration of the false landmarks on inconsistent behavior of the EKF SLAM is(More)
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