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http://hdl.handle.net/1942/24621
Title: | 3D Indoor scanning & map building | Authors: | Vanspauwen, Sander | Advisors: | BAETEN, Johan HOANG, HAI |
Issue Date: | 2017 | Publisher: | UHasselt | Abstract: | This research project aims to develop a 3D indoor scanning and map building application (algorithm) at the Hanoi University of Science and Technology (HUST). 3D technology is often applied in: transport, navigation, robots, 3D object scanning and more. This project focuses on gathering more information from the environment with a real-time cycle time for indoor environments. The goal is to create a 3D map on a computer, with all the obstacles that are in the environment. A major part of this master's thesis was the programming of an algorithm that makes use of PCL (Point cloud library) software and a RGD-D hardware. The algorithm creates a point cloud with the depth image received from the RGB-D camera. This point cloud correlates to everything that is in the camera's field of view. Every point cloud is taken from a specific view-point in the real world. The algorithm combines these point clouds of the scene to one point cloud (registration). The algorithm can combine two point clouds in ±450 ms and needs ±700 ms to update the 3D map. The scene is represented well but still contains small errors, especially relating to the alignment of the small objects in the scene. | Notes: | master in de industriële wetenschappen: energie-automatisering | Document URI: | http://hdl.handle.net/1942/24621 | Category: | T2 | Type: | Theses and Dissertations |
Appears in Collections: | Master theses |
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00000000-7310-4ccf-8c9d-53580e3a45cb.pdf | 8.37 MB | Adobe PDF | View/Open | |
00000000-7073-4d4e-837f-1c1d867f2509.pdf | 1.09 MB | Adobe PDF | View/Open |
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