MapFuse: Complete and Realistic 3D Modelling
Validating a 3D indoor radio propagation model that simulates the signal strength of a wireless device can be a challenging task due to an incomplete or a faulty environment model. In this paper, we present a novel method to simulate a complete indoor environment that can be used for evaluating a ra...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Wiley
2018-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2018/4942034 |
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| _version_ | 1832561791732809728 |
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| author | Michiel Aernouts Ben Bellekens Maarten Weyn |
| author_facet | Michiel Aernouts Ben Bellekens Maarten Weyn |
| author_sort | Michiel Aernouts |
| collection | DOAJ |
| description | Validating a 3D indoor radio propagation model that simulates the signal strength of a wireless device can be a challenging task due to an incomplete or a faulty environment model. In this paper, we present a novel method to simulate a complete indoor environment that can be used for evaluating a radio propagation model efficiently. In order to obtain a realistic and robust model of the full environment, the OctoMap framework is applied. The system combines the result of a SLAM algorithm and secondly a simple initial model of the same environment in a probabilistic way. Due to this approach, sensor noise and accumulated registration errors are minimised. Furthermore, in this article, we evaluate the merging approach with two SLAM algorithms, three vision sensors, and four datasets, of which one is publicly available. As a result, we have created a complete volumetric model by merging an initial model of the environment with the result of RGB-D SLAM based on real sensor measurements. |
| format | Article |
| id | doaj-art-b4f1e1308c2b40b78feac31663103a72 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-b4f1e1308c2b40b78feac31663103a722025-02-03T01:24:18ZengWileyJournal of Robotics1687-96001687-96192018-01-01201810.1155/2018/49420344942034MapFuse: Complete and Realistic 3D ModellingMichiel Aernouts0Ben Bellekens1Maarten Weyn2IMEC, IDLab, Faculty of Applied Engineering, University of Antwerp, Groenenborgerlaan 171, 2000 Antwerp, BelgiumIMEC, IDLab, Faculty of Applied Engineering, University of Antwerp, Groenenborgerlaan 171, 2000 Antwerp, BelgiumIMEC, IDLab, Faculty of Applied Engineering, University of Antwerp, Groenenborgerlaan 171, 2000 Antwerp, BelgiumValidating a 3D indoor radio propagation model that simulates the signal strength of a wireless device can be a challenging task due to an incomplete or a faulty environment model. In this paper, we present a novel method to simulate a complete indoor environment that can be used for evaluating a radio propagation model efficiently. In order to obtain a realistic and robust model of the full environment, the OctoMap framework is applied. The system combines the result of a SLAM algorithm and secondly a simple initial model of the same environment in a probabilistic way. Due to this approach, sensor noise and accumulated registration errors are minimised. Furthermore, in this article, we evaluate the merging approach with two SLAM algorithms, three vision sensors, and four datasets, of which one is publicly available. As a result, we have created a complete volumetric model by merging an initial model of the environment with the result of RGB-D SLAM based on real sensor measurements.http://dx.doi.org/10.1155/2018/4942034 |
| spellingShingle | Michiel Aernouts Ben Bellekens Maarten Weyn MapFuse: Complete and Realistic 3D Modelling Journal of Robotics |
| title | MapFuse: Complete and Realistic 3D Modelling |
| title_full | MapFuse: Complete and Realistic 3D Modelling |
| title_fullStr | MapFuse: Complete and Realistic 3D Modelling |
| title_full_unstemmed | MapFuse: Complete and Realistic 3D Modelling |
| title_short | MapFuse: Complete and Realistic 3D Modelling |
| title_sort | mapfuse complete and realistic 3d modelling |
| url | http://dx.doi.org/10.1155/2018/4942034 |
| work_keys_str_mv | AT michielaernouts mapfusecompleteandrealistic3dmodelling AT benbellekens mapfusecompleteandrealistic3dmodelling AT maartenweyn mapfusecompleteandrealistic3dmodelling |