ICRA 2012 Paper Abstract

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Paper WeC08.5

Kim, Young Min (Stanford University), Dolson, Jennifer (Stanford University), Sokolsky, Michael (Stanford University), Koltun, Vladlen (Stanford University), Thrun, Sebastian (Stanford University)

Interactive Acquisition of Residential Floor Plans

Scheduled for presentation during the Regular Session "SLAM II" (WeC08), Wednesday, May 16, 2012, 15:30−15:45, Meeting Room 8 (Wacipi)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on November 18, 2017

Keywords Virtual Reality and Interfaces, Sensor Fusion

Abstract

We present a hand-held system for real-time, interactive acquisition of residential floor plans. The system integrates a commodity range camera, a micro-projector, and a button interface for user input and allows the user to freely move through a building to capture its important architectural elements. The system uses the Manhattan world assumption, which posits that wall layouts are rectilinear. This assumption allows generating floor plans in real time, enabling the operator to interactively guide the reconstruction process and to resolve structural ambiguities and errors during the acquisition. The interactive component aids users with no architectural training in acquiring wall layouts for their residences. We show a number of residential floor plans reconstructed with the system.

 

 

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