@inproceedings{a8caf92ba2e14918876341d422b22ba0,
title = "3D mapping of multi-floor buildings based on sensor fusion",
abstract = "In this paper, we design a highly accurate method for 3D mapping of multi-floor buildings. The basic idea is to combine the laser range sensor for metric mapping and barometric pressure sensor for detecting floor transition and kinect sensor for collection 3D environment information. Meanwhile, we adopt the Monte Carlo localization in 2D map to improve the accuracy of the localization. Finally, the barometric pressure is used to merge the 3D map of the multi-floor buildings. By using the information collected by a real robot in a typical multi-floor environment, the method is tested and compared with some other approaches, the results show that the method is efficient and has a better result in 3D mapping of multi-floor buildings.",
keywords = "barometric pressure, kinect, Monte Carlo Localization, multi-floor buildings, visual odometry",
author = "Zhun Fan and Chong Li and Yupeng Wang and Lei Zhao and Li Yao and Guijie Zhu and Zhongxing Li and Honghui Xie and Yang Xiao",
note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 3rd International Conference on Industrial Informatics - Computing Technology, Intelligent Technology, Industrial Information Integration, ICIICII 2017 ; Conference date: 02-12-2017 Through 03-12-2017",
year = "2017",
month = jul,
day = "2",
doi = "10.1109/ICIICII.2017.10",
language = "English",
series = "Proceedings - 2017 International Conference on Industrial Informatics - Computing Technology, Intelligent Technology, Industrial Information Integration, ICIICII 2017",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "10--15",
editor = "Pan Wang and Lida Xu and Zhun Fan",
booktitle = "Proceedings - 2017 International Conference on Industrial Informatics - Computing Technology, Intelligent Technology, Industrial Information Integration, ICIICII 2017",
}