Autonomous Exploration of Unknown Indoor Environments for High-Quality Mapping Using Feature-Based RGB-D SLAM.

Simultaneous localization and mapping (SLAM) system-based indoor mapping using autonomous mobile robots in unknown environments is crucial for many applications, such as rescue scenarios, utility tunnel monitoring, and indoor 3D modeling. Researchers have proposed various strategies to obtain full coverage while minimizing exploration time; however, mapping quality factors have not been considered. In fact, mapping quality plays a pivotal role in 3D modeling, especially when using low-cost sensors in challenging indoor scenarios.

Robust RGB-D SLAM Using Point and Line Features for Low Textured Scene.

Three-dimensional (3D) reconstruction using RGB-D camera with simultaneous color image and depth information is attractive as it can significantly reduce the cost of equipment and time for data collection. Point feature is commonly used for aligning two RGB-D frames. Due to lacking reliable point features, RGB-D simultaneous localization and mapping (SLAM) is easy to fail in low textured scenes.

Synthesis, structure and magnetic properties of copper(ii) azide.

A novel azide-bridged copper compound without an auxiliary ligand has been synthesized and characterized by single-crystal diffraction analysis. The compound consists of 1D double chains with end-on (EO) azide bridges. Furthermore, the neighboring chains are connected by weak coordination bonds, which leads to the formation of a 3D architecture.