Topometric Maps of Indoor Environments

Topometric Maps of Indoor Environments: Extraction, matching and fusion

van Schendel, Max (TU Delft Architecture and the Built Environment)

Verbree, E. (mentor)
Nourian, Pirouz (graduation committee)
Voûte, R.L. (graduation committee)

Delft University of Technology

Geomatics

2022-10-31

The merging of multiple partial maps of indoor environments created
by teams of human or robot agents into a single global map is a key problem
that, when solved, can improve mapping speed and quality. Existing map
merging approaches generally depend on external signals which are not available indoors or only use the geometric properties of an environment. Inspired by the human understanding of environments in relationship to their context we propose a map merging system that extracts and uses topometric maps, a map representation containing both the geometric and topological characteristics of an environments, to solve the map merging problem in indoor spaces. In this research we demonstrate an intuitive approach to extracting topometric maps of 3D, multi-floor, indoor environments and use both the topological and geometric characteristics contained in the topometric maps to perform context-aware map matching and fusion.

http://resolver.tudelft.nl/uuid:92e1ea3a-3a34-449c-b0b4-731d6480266a

Student theses

master thesis

© 2022 Max van Schendel