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Walk&Sketch: create floor plans with an RGB-D camera

 

Creating floor plans for large areas via manual surveying is labor-intensive and error-prone. In this paper, we present a system, Walk&Sketch, that creates floor plans of an indoor environment by a person walking through the environment at a normal strolling pace and taking videos using a consumer RGB-D camera. The method computes floor maps represented by polylines from a 3D point cloud based on precise frame-to-frame alignment. It aligns a reference frame with the floor and computes the frame-to-frame offsets from the continuous RGB-D input. Line segments at a certain height are extracted from the 3D point cloud, and are merged to form a polyline map, which can be further modified and annotated by users. The explored area is visualized as a sequence of polygons, providing users with the information on coverage. Experiments have done in various areas of an office building and have shown encouraging results.

 
 
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citation

Zhang, Y.; Luo, C.; Liu, J. Walk&Sketch: create floormaps with an RGB-D camera. ACM International Conference on Ubiquitous Computing; 2012 September 5-8; Pittsburgh, PA.

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Copyright © ACM, 2012. This is the author's version of the work. It is posted here by permission of ACM for your personal use. Not for redistribution. The definitive version was published in ACM International Conference on Ubiquitous Computing