Quantifying the quality of indoor maps

M. Assali, G. Pipelidis, V. Podolskiy, D. Iwaszczuk, L. Heinen, M. Gerndt

Research output: Contribution to journalConference articlepeer-review

3 Scopus citations

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.

Original languageEnglish
Pages (from-to)739-745
Number of pages7
JournalInternational Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives
Volume42
Issue number2/W13
DOIs
StatePublished - 4 Jun 2019
Event4th ISPRS Geospatial Week 2019 - Enschede, Netherlands
Duration: 10 Jun 201914 Jun 2019

Keywords

  • Dynamic Quality Assessment
  • Indoor Map
  • Quality Metrics
  • Robot Map

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