2022
Sigma-FP: Robot Mapping of 3D Floor Plans With an RGB-D Camera Under Uncertainty
RA-L 2022
This letter presents Sigma-FP, a novel 3D reconstruction method to obtain the floor plan of a multi-room environment from a sequence of RGB-D images captured by a wheeled mobile robot. For each input image, the planar patches of visible walls are extracted and subsequently characterized by a multiva