Abstract
The authors aim to make 3-D map in rooms filled with smoke by removing smoke effects. Because the laser scanner is able to measure the shape of the smoke, the smoke is show up in the generated 3-D map. This paper attempts to recognize the smoke using laser reflection intensity, remove the smoke from the 3-D map, and correct the measuring distance if the laser measures 3-D shape of the smoke. The 3-D point cloud is divided into voxels. Smoke is characterized with an eigenvalue and laser reflection intensity in each voxel. In addition, the 3-dimensional shape warped by smoke effects is corrected both distance and angle of incidence.
