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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