Abstract

This paper, we present a method for real-time 3D modeling and visualization using RTAB-Map with the utilization of 3D loop closure technique. 3D modeling and visualization are performed to create an accurate representation in three dimensions. By modeling in 3D, we can visualize more detailed and realistic representations, making it easier to understand the structure and characteristics. In this method, we collect data through a Kinect camera sensor, and then perform odometry processing to estimate the camera's position in the observed environment. The data is then used to create a 3D map that is continuously updated in real-time with 3D loop closure techniques, where it will resulting in a more accurate and consistent map. We explained the details of the 3D loop closure process, involving key frame selection, feature extraction and matching, and pose graph optimization. From the results obtained, it requires more than 300 matching data IDs out of 500 image captures to create a 3D model and visualize objects in 3D. When the number of matching data is less than 300, the 3D model and visualization of the object will not be perfect. In conclusion, we found that the proposed method can perform real-time 3D modeling and visualization quite well, based on the testing of the system. This method can be used in various applications such as environment mapping in robotics and others.

Original languageEnglish
Title of host publication2023 International Seminar on Intelligent Technology and Its Applications
Subtitle of host publicationLeveraging Intelligent Systems to Achieve Sustainable Development Goals, ISITIA 2023 - Proceeding
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages228-233
Number of pages6
ISBN (Electronic)9798350313956
DOIs
Publication statusPublished - 2023
Event24th International Seminar on Intelligent Technology and Its Applications, ISITIA 2023 - Hybrid, Surabaya, Indonesia
Duration: 26 Jul 202327 Jul 2023

Publication series

Name2023 International Seminar on Intelligent Technology and Its Applications: Leveraging Intelligent Systems to Achieve Sustainable Development Goals, ISITIA 2023 - Proceeding

Conference

Conference24th International Seminar on Intelligent Technology and Its Applications, ISITIA 2023
Country/TerritoryIndonesia
CityHybrid, Surabaya
Period26/07/2327/07/23

Keywords

  • 3D
  • Loop Closure
  • Modelling
  • ROS
  • RTAB-Map
  • Visualizations

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