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Quantifying the quality of indoor maps

Assali, M. and Pipelidis, G. and Podolskiy, V. and Iwaszczuk, Dorota and Heinen, L. and Gerndt, M. (2019):
Quantifying the quality of indoor maps.
XLII-2/W13, Enschede, In: ISPRS Geospatial Week 2019, Enschede, 10–14 June 2019, pp. 739-745, [Online-Edition: https://doi.org/10.5194/isprs-archives-XLII-2-W13-739-2019],
[Conference or Workshop Item]

Abstract

Indoor maps are required for multiple applications, such as, navigation, building maintenance and robotics. One of common methods for map generation is laser scanning. In such maps, not only geometry of the map is of interest, but also its quality. This study aims at developing methods for real-time generation of indoor maps using features extracted from pointclouds obtained by a robot with their simultaneous quality assessment. We investigate, how this quality can be quantified for feature-based maps. First, we introduce a method for modeling 2D maps into 3D models that enable their usage for localization. Second, we review and evaluate a number of algorithms that can enable us to address features in a map. Hence, we enable the generation of objects from a pointcloud that has been sensed. Finally, we study several aspects of the map quality and we formalize them into metrics that can be applied to quantify their quality.

Item Type: Conference or Workshop Item
Erschienen: 2019
Creators: Assali, M. and Pipelidis, G. and Podolskiy, V. and Iwaszczuk, Dorota and Heinen, L. and Gerndt, M.
Title: Quantifying the quality of indoor maps
Language: English
Abstract:

Indoor maps are required for multiple applications, such as, navigation, building maintenance and robotics. One of common methods for map generation is laser scanning. In such maps, not only geometry of the map is of interest, but also its quality. This study aims at developing methods for real-time generation of indoor maps using features extracted from pointclouds obtained by a robot with their simultaneous quality assessment. We investigate, how this quality can be quantified for feature-based maps. First, we introduce a method for modeling 2D maps into 3D models that enable their usage for localization. Second, we review and evaluate a number of algorithms that can enable us to address features in a map. Hence, we enable the generation of objects from a pointcloud that has been sensed. Finally, we study several aspects of the map quality and we formalize them into metrics that can be applied to quantify their quality.

Volume: XLII-2/W13
Place of Publication: Enschede
Uncontrolled Keywords: Quality Metrics, Indoor Map, Robot Map, Dynamic Quality Assessment
Divisions: 13 Department of Civil and Environmental Engineering Sciences
13 Department of Civil and Environmental Engineering Sciences > Institute of Geodesy
13 Department of Civil and Environmental Engineering Sciences > Institute of Geodesy > Remote Sensing and Image Analysis
Event Title: ISPRS Geospatial Week 2019
Event Location: Enschede
Event Dates: 10–14 June 2019
Date Deposited: 04 Oct 2019 06:24
Official URL: https://doi.org/10.5194/isprs-archives-XLII-2-W13-739-2019
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