Indoor Map Display Method Using Mixed Reality

We have developed a remote control robot for searching for victims inside buildings during disasters. We used the approach of searching inside buildings by displaying a map. Concerning displays, several studies have been done on constructing 3D indoor maps from laser scan data acquired by a laser scanner. However, it is difficult to construct 3D maps in a vast or complicated space. Conventionally, these systems display only part of the indoor architecture that the robot was able to acquire. We describe here a method to display an entire indoor architecture using mixed reality. This method can display vast or complicated space using an image. Furthermore, we developed a method of synthesizing a display of a 3D map on an image by using a translation technique that recognizes the borders of a 3D map and an image. Our method allows the system to represent the entire indoor architecture seamlessly.