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 proceedingArticle in proceedingsResearchpeer-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 languageEnglish
Title of host publicationProceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherIEEE
Publication date2011
Pages847-852
Publication statusPublished - 2011
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems - San Francisco, CA, United States
Duration: 25 Sep 201130 Sep 2011

Conference

Conference2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/TerritoryUnited States
CitySan Francisco, CA
Period25/09/201130/09/2011

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