In the present paper, a method for building a map of an unknown environment (SLAM) derived from the ICP algorithm using point-to-point metric is proposed. The polarscan matching technology is used for estimation of the robot location change between two scans in sequence estimate the correct position of the robot. Since map building is fairly timeconsuming, the algorithm of differential evolutio...

Periodic building change detection is important for many applications, including disaster management. Building map databases need to be updated based on detected changes so as to ensure their currency and usefulness. This paper first presents a graphical user interface (GUI) developed to support the creation of a building database from building footprints automatically extracted from LiDAR (lig...

This paper describes a knowledge based approach for automatic 3D reconstruction of buildings from aerial imagery. The approach relies on using a 2D GIS map and knowledge about the imaging geometry and acquisition parameters. We show that by integrating knowledge from the images and the GIS map, the complexity of the building reconstruction process can be greatly reduced. In the first stage the ...

− In this paper, an autonomous map building method and an intelligent position estimation method for an indoor service robot are presented. Map building is composed of three processes: (1) environmental information gathering, (2) scan registration, and (3) grid map building. A grid map of the environment can be successfully generated using the proposed strategy. Previously [9] we proposed a loc...

In this paper, we propose a new approach to map-based indoor localization for walking people using an Inertial Measurement Unit (IMU). Generally, an office building includes various components such as corridors, rooms, floors, staircases, elevators. We consider the components for personal positioning. We present two mapping methods that are a map representation method and a position compensatio...

Automatic detection of buildings and changes in buildings from airborne laser scanner and image data is discussed. A new, improved method for change detection between an existing building map and building detection results has been developed. Corresponding building objects between the two datasets are found by analysing the overlaps of the buildings. Depending on the correspondences, change det...