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A. Ciambrone,  D. Gračanin,  K. Matković (2017)

A Sensor Fusion Approach to Extending Range of Environment Mapping Devices

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SCCG '17: Proceedings of the 33rd Spring Conference on Computer Graphics

Abstract

Currently available commercial spatial mapping devices mostly use infrared camera to obtain a depth map which is effective only for short to medium distances (3-4 meters). However, that range can be extended by using existing environment mapping devices and techniques and a combination of a camera, Inertial Measurement Unit, and Light Detection and Ranging devices supported by sensor fusion and computer vision techniques. The proposed approach consists of three steps. The first step is data collection and data fusion using embedded hardware; the second step is data processing (segmentation) and the third step is creating a geometry mesh of the environment. The developed system was evaluated by measuring the room dimension and objects within the room. This low cost system can expand the mapping range of the existing mixed reality devices such as Microsoft HoloLens device.

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