Interior mapping of a building: A real-life experiment with Microsoft Kinect for Windows v1 and RGBD-SLAM

摘要

Mapping the interior of a building is a nice step to obtain the description of that building. In that context, this article presents the use of a low cost 3D sensor, the Microsoft Kinect for Windows v1, associated to RGBDSLAM in order to perform that mapping. Even if the method is well-known and has showed its performance, its use is not as simple as it looks like. Limitations of both the sensor and the method have to be dealt with and great care has to be taken during the measurements. Some post-processing is also needed to obtain nice point cloud as results of the experiments. Emphasis is put on the point cloud' size and the storage needed. Finally, the data obtained after an internship measurement campaign are presented and show to fulfill nicely the goals and requirements of the study.