Research Projects NTT-MIT Research Collaboration: a partnership in the future of communication and computation

Automated Maps and Models of Extended Interiors

MIT9904-20

Start date: 07/99

 Seth Teller
MIT LCS

Takayuki Yasuno
NTT

Project summary

The goal of our system is to build a small, rolling, semi-autonomous vehicle which will move about indoors and produce textured geometric models of indoor spaces.

Project description

 

We have begun to extend and complement our successful automated mapping system for exterior urban spaces, to incorporate mapping capability for interior spaces. We have built a prototype, rolling image acquisition sensor with digital video and wheel encoders. Later we will add a laser range-finder, high-resolution digital camera, and more precise dead- reckoning instrumentation (wheel encoders and precise inertial measurement system) to allow the acquisition and registration of dense color-range observations of interior environments.

The sensor package will be directed by remote radio control, but could someday move autonomously. In either case, its positioning instrumentation will track both horizontal motion (e.g. along hallways and through rooms), and vertical motion (e.g., up and down wheelchair ramps, and while inside elevators). Thus we will be able to build multi-level maps.

Demos, movies and other examples

View an earlier video on The MIT City Scanning Project (in 7 parts).

Part 1 Part 2 Part 3 Part 4
Part 5 Part 6 Part 7

The principal investigators

Presentations and posters

Publications

Extracting Textured Vertical Facades from Controlled Close-Range Imagery, Satyan Coorg and Seth Teller. In Proceedings of Computer Vision and Pattern Recognition, pp. 625--632, June 1999.

Dense Matching by Conservative Search of Transformation Space, Seth Teller, Eric Amram and Michael Werman. submitted to CVPR 2000.

Toward Urban Model Acquisition from Geo-Located Images, Seth Teller. In Proceedings of Pacific Graphics 1998, pp. 45--51, October 1998.

Proposals and progress reports

Proposals:

NTT Bi-Annual Progress Report, July to December 1999:

NTT Bi-Annual Progress Report, January to June 2000:

NTT Bi-Annual Progress Report, July to December 2000:

NTT Bi-Annual Progress Report, January to June 2001:

NTT Bi-Annual Progress Report, July to December 2001:

NTT Bi-Annual Progress Report, January to June 2002:

NTT Bi-Annual Progress Report, July to December 2002:

For more information