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Víctor Prieto-Marañón, Jorge Cabrera-Gámez, Antonio C Domínguez-Brito, Daniel Hernández-Sosa, José Isern-González, and Enrique Fernández-Perdomo (2011)

Efficient Plane Detection in Multilevel Surface Maps

Journal of Physical Agents, 5(1).

An automatic system aimed at producing a compact
tridimensional description of indoor environments using a mobile
3D laser scanner is described in this paper. The resulting
description is made up of a Multi-Level Map (ML map) and a
series of plane patches extracted from the MLSM. We propose a
novel plane detection algorithm, based on the efficient RANSAC
algorithm, that operates directly over the data structures of a
ML map and does not need to rely on the low level laser data
cloud. The mobile 3D scanner is built from a Hokuyo laser range
sensor attached to a 2DOF pan-tilt, which is installed on top
of a 3DX Pioneer mobile robot. The 3D spatial information
acquired by the laser sensor from different poses is used to
build a large single map of the environment using the SLAM
6D library. Experimental results demonstrate that the described
system is capable of efficiently building compact and accurate 3D
representations of complex large indoor environments at multiple
semantic levels.

3D Maps; plane detection; multilevel surface maps; laser scanner; SLAM6D

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