High-Resolution Mapping and Modeling of Multi-Floor Architectural Interiors

The goal of our project is to achieve an automated mapping capability for architectural interiors. We are deploying a small rolling robot with an omni-directional video camera, an on-board CPU, and wheel encoders for odometry. We intend to have the robot roam about the space to be acquired, gathering video frames, tracking geometric features and constructing a geometric model of its environment on the fly. We also plan to establish a wireless network link between the robot and a base station. The base station will monitor telemetry from the robot, and will serve the results of the robot’s mapping efforts through a standard web interface. The base station could also allow semi-autonomous direction of the robot, for example by one or more interested visitors to the web site.