2P2-C15 Generation of 3D Environment Map for image-based navigation

Abstract

There are many navigation techniques for robots. It requires large cost to make a map for each navigation method since the required map is method-dependent. Therefore, in this research, we propose the 3D Environment Map (3DEM) that is able to generate any maps for specified navigation techniques. For example, the 3DEM can produce a Ceiling Map, a VSS (View Simulation System) for View Sequence and a Human Navigation Map. This paper describes the concept of 3DEM and a method to make it for Indoor Environments. Moreover, we demonstrate a result of generating a Ceiling Map from a 3DEM.