Abstract: 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.


    Access

    Download


    Export, share and cite



    Title :

    MapFuse : complete and realistic 3D modelling


    Contributors:

    Publication date :

    2018-01-01


    Remarks:

    1687-9600 ; Journal of Robotics


    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Modelling realistic vehicle traffic flows

    Borgiattino, C. / Malandrino, F. / Casetti, C. et al. | IEEE | 2012


    Secondary Sonic Boom Modelling for Realistic Atmospheric Conditions

    Blanc-Benon, Philippe / Dallois, Laurent / Scott, Julian | AIAA | 2005


    Secondary Sonic Boom Modelling for Realistic Atmospheric Conditions

    Dallois, L. / Blanc-Benon, P. / Scott, J. et al. | British Library Conference Proceedings | 2004


    Modelling of a vehicle windshield with realistic uncertainty

    d'Ippolito, R. / Tabak, U. / Munck, M. De et al. | Tema Archive | 2006