Document Server@UHasselt >
Education >
Faculty of Engineering Technology >
Master theses >

Please use this identifier to cite or link to this item: http://hdl.handle.net/1942/24621

Title: 3D Indoor scanning & map building
Authors: Vanspauwen, Sander
Advisors: BAETEN, Johan
Issue Date: 2017
Publisher: UHasselt
Abstract: This research project aims to develop a 3D indoor scanning and map building application (algorithm) at the Hanoi University of Science and Technology (HUST). 3D technology is often applied in: transport, navigation, robots, 3D object scanning and more. This project focuses on gathering more information from the environment with a real-time cycle time for indoor environments. The goal is to create a 3D map on a computer, with all the obstacles that are in the environment. A major part of this master's thesis was the programming of an algorithm that makes use of PCL (Point cloud library) software and a RGD-D hardware. The algorithm creates a point cloud with the depth image received from the RGB-D camera. This point cloud correlates to everything that is in the camera's field of view. Every point cloud is taken from a specific view-point in the real world. The algorithm combines these point clouds of the scene to one point cloud (registration). The algorithm can combine two point clouds in ±450 ms and needs ±700 ms to update the 3D map. The scene is represented well but still contains small errors, especially relating to the alignment of the small objects in the scene.
Notes: master in de industriële wetenschappen: energie-automatisering
URI: http://hdl.handle.net/1942/24621
Category: T2
Type: Theses and Dissertations
Appears in Collections: Master theses

Files in This Item:

Description SizeFormat
N/A8.37 MBAdobe PDF
N/A1.09 MBAdobe PDF

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.