I will give a brief report on my progress in constructing an indoor 3D environment map. The hardware set up would be two orthogonally placed SICK S200 laser scanners mounted on PAL5. One of the main challenges is the matter of matching maps in different floors together. Below are some interesting references.
C. Früh and A. Zakhor, "Fast 3D model generation in urban environments", in International Conference on Multisensor Fusion and Integration for Intelligent Systems 2001, Baden-Baden, Germany, August 2001, p. 165-170.
http://www-video.eecs.berkeley.edu/papers/frueh/mfi2001.pdf
Zho, H. and Shibasaki, R., "Reconstructing Urban 3D Model using Vehicle-borne Laser Range Scanners", 3-D Digital Imaging and Modeling, 2001. Proceedings, p. 349-356.
http://shiba.iis.u-tokyo.ac.jp/member/current/zhao/pub/3dim2001.pdf
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