Y. Liu, R. Emery, D. Chakrabarti, W. Burgard, and S. Thrun

Using EM to Learn 3D Models of Indoor Environments with Mobile Robots

Proc. of the IEEE International Conference on Machine Learning (ICML)





Abstract

This paper describes an algorithm for generating compact 3D models of indoor environments with mobile robots. Our algorithm employs the expectation maximization algorithm to fit a low-complexity planar model to 3D data collected by range finders and a panoramic camera. The complexity of the model is determined during model fitting, by incrementally adding and removing  surfaces. In a final post-processing step, measurements are converted into polygons and projected onto the surface model where possible. Empirical results obtained with a mobile robot illustrate that high-resolution models can be acquired in reasonable time.

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Bibtex

@InProceedings{Liu01Us,
  author    = {Liu, Y. and Emery, R. and Chakrabarti, D. and Burgard, W. and Thrun, S.},
  title     = {Using {EM} to Learn 3{D} Models of Indoor Environments with Mobile Robots},
  booktitle = ICML,
  year      = 2001,
  note      = {to appear}
}