RT Journal Article
T1 Sigma-FP: Robot Mapping of 3D Floor Plans with an RGB-D Camera under Uncertainty
A1 Matez-Bandera, Jose Luis
A1 González-Monroy, Javier
A1 González-Jiménez, Antonio Javier
AB This work presents Sigma-FP, a novel 3D reconstruction method to obtain the floor plan of a multi-room environment from a sequence of RGB-D images captured by a wheeled mobile robot. For each input image, the planar patches of visible walls are extracted and subsequently characterized by a multivariate Gaussian distribution in the convenient Plane Parameter Space. Then, accounting for the probabilistic natureof the robot localization, we transform and combine the planar patches from the camera frame into a 3D global model, where the planar patches include both the plane estimation uncertainty and the propagation of the robot pose uncertainty. Additionally, processing depth data, we detect openings (doors and windows) in the wall, which are also incorporated in the 3D global model to provide a more realistic representation. Experimental results, in both real-world and synthetic environments, demonstrate that our method outperforms state-of-the art methods, both in time and accuracy, while just relying on Atlanta world assumption.
PB IEEE Robotics and Automation Letters
YR 2022
FD 2022-10
LK https://hdl.handle.net/10630/26928
UL https://hdl.handle.net/10630/26928
LA eng
NO J. -L. Matez-Bandera, J. Monroy and J. Gonzalez-Jimenez, "Sigma-FP: Robot Mapping of 3D Floor Plans With an RGB-D Camera Under Uncertainty," in IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 12539-12546, Oct. 2022, doi: 10.1109/LRA.2022.3220156.
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 19 ene 2026