Autonomous Map Generation using Kinect

Microsoft Kinect dynamically provides texture
mapped 3-dimensional point clouds. Combining this with new
Simultaneous Localization and Mapping techniques, fast generation
of detailed, fully textured, 3-dimensional point clouds
of an environment, and the Kinect's location in it, can be
found on the fly. One application of the this new ability is
to the segmentation and categorization of an environment, and
the generation of a simple floor plan. The projects goal is to
generate a simple, reasonably fast set of tools that segments
simple Point Clouds into seperate objects, assigns them basic
categories (movable and unmovable), and generates a simple
blueprint for the environment. The results can be used for
navigation, or tasks such as moving around and sorting objects
in a room. Another possible use is the detection of doorways. In
the future, more work on the segmentation algorithms would
be desired.

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