3D Mapping of indoor environments with a time of flight camera

Rodrigo Baravalle 1 Amaury Nègre 1, *
* Corresponding author
1 E-MOTION - Geometry and Probability for Motion and Action
Inria Grenoble - Rhône-Alpes, LIG - Laboratoire d'Informatique de Grenoble
Abstract : In this work we make a 3D representation of an indoor environment surrounding a robot. So we assume an static environment. We used a Swissranger SR4000 camera to get 3D point clouds of the environment, and ROS for implementing the software. With these information and the position of the robot, we are able to construct a 3D map in real time.
keyword : 3d mapping slam octree
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Reports
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https://hal.inria.fr/inria-00594908
Contributor : Rodrigo Baravalle <>
Submitted on : Saturday, May 21, 2011 - 10:56:50 PM
Last modification on : Thursday, October 11, 2018 - 8:48:02 AM
Long-term archiving on : Friday, November 9, 2012 - 11:55:56 AM

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  • HAL Id : inria-00594908, version 1

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Rodrigo Baravalle, Amaury Nègre. 3D Mapping of indoor environments with a time of flight camera. [Technical Report] RT-0406, INRIA. 2011, 12p. ⟨inria-00594908⟩

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