2A2-B10 Automatic Generation of Image-Based Indoor Walkthrough Environments by a Mobile Robot

Abstract

The walkthrough environments have a wide range of applications. Creating walkthrough environments requires a lot of time and effort, so walkthrough haven't been a popularized technology yet. In this paper, we propose a generation method of image-based indoor walkthrough environments by a mobile robot. Position and pose information, which can be acquired by matching of scan data from laser range finder, also detect walking human in image data, and such images are discarded when building walkthrough environments automatically. The feasibility of the proposed method is confirmed through experiments.