Mapping of multi-floor buildings: A barometric approach

Ali Gürcan Özkil; Zhun Fan; Jizhong Xiao; Steen Dawids; Jens Klæstrup Kristensen; Kim Hardam Christensen

Mapping of multi-floor buildings: A barometric approach

Ali Gürcan Özkil, Zhun Fan, Jizhong Xiao, Steen Dawids, Jens Klæstrup Kristensen, Kim Hardam Christensen

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

Abstract

This paper presents a new method for mapping multi5floor buildings. The method combines laser range sensor
for metric mapping and barometric pressure sensor for detecting floor transitions and map segmentation. We exploit
the fact that the barometric pressure is a function of the elevation, and it varies between different floors. The method is
tested with a real robot in a typical indoor environment, and the results show that physically consistent multi5floor
representations are achievable.

Original language	English
Title of host publication	Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	IEEE
Publication date	2011
Pages	847-852
Publication status	Published - 2011
Event	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems - San Francisco, CA, United States Duration: 25 Sept 2011 → 30 Sept 2011

Conference

Conference	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/Territory	United States
City	San Francisco, CA
Period	25/09/2011 → 30/09/2011

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title = "Mapping of multi-floor buildings: A barometric approach",

abstract = "This paper presents a new method for mapping multi5floor buildings. The method combines laser range sensor for metric mapping and barometric pressure sensor for detecting floor transitions and map segmentation. We exploit the fact that the barometric pressure is a function of the elevation, and it varies between different floors. The method is tested with a real robot in a typical indoor environment, and the results show that physically consistent multi5floor representations are achievable.",

author = "{\"O}zkil, {Ali G{\"u}rcan} and Zhun Fan and Jizhong Xiao and Steen Dawids and Kristensen, {Jens Kl{\ae}strup} and Christensen, {Kim Hardam}",

year = "2011",

language = "English",

pages = "847--852",

booktitle = "Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems",

publisher = "IEEE",

address = "United States",

note = "2011 IEEE/RSJ International Conference on Intelligent Robots and Systems ; Conference date: 25-09-2011 Through 30-09-2011",

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Özkil, AG, Fan, Z, Xiao, J, Dawids, S, Kristensen, JK & Christensen, KH 2011, Mapping of multi-floor buildings: A barometric approach. in Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, pp. 847-852, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, United States, 25/09/2011.

TY - GEN

T1 - Mapping of multi-floor buildings: A barometric approach

AU - Özkil, Ali Gürcan

AU - Fan, Zhun

AU - Xiao, Jizhong

AU - Dawids, Steen

AU - Kristensen, Jens Klæstrup

AU - Christensen, Kim Hardam

PY - 2011

Y1 - 2011

N2 - This paper presents a new method for mapping multi5floor buildings. The method combines laser range sensor for metric mapping and barometric pressure sensor for detecting floor transitions and map segmentation. We exploit the fact that the barometric pressure is a function of the elevation, and it varies between different floors. The method is tested with a real robot in a typical indoor environment, and the results show that physically consistent multi5floor representations are achievable.

AB - This paper presents a new method for mapping multi5floor buildings. The method combines laser range sensor for metric mapping and barometric pressure sensor for detecting floor transitions and map segmentation. We exploit the fact that the barometric pressure is a function of the elevation, and it varies between different floors. The method is tested with a real robot in a typical indoor environment, and the results show that physically consistent multi5floor representations are achievable.

M3 - Article in proceedings

SP - 847

EP - 852

BT - Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

PB - IEEE

T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

Y2 - 25 September 2011 through 30 September 2011

ER -

Mapping of multi-floor buildings: A barometric approach

Abstract

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