Detection and utilization of vertical intersection in feature-less environment with RGB-depth sensor

@article{Choi2015DetectionAU,
  title={Detection and utilization of vertical intersection in feature-less environment with RGB-depth sensor},
  author={Hyunga Choi and Suyong Yeon and Nakju Lett Doh},
  journal={2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)},
  year={2015},
  pages={537-540}
}
This paper proposes a method to build a RGBD map in feature-less environment. The proposed method especially focuses on a corridor environment a common indoor space composed of simple textureless structures. It estimates robot positions for mapping by using a plane registration algorithm with additional imaginary planes. The imaginary planes are created by… CONTINUE READING