Abstract — Microsoft Kinect dynamically provides texture mapped 3-dimensional point clouds. Combining this with new Simultaneous Localization and Mapping techniques, fast generation of detailed, fully textured, 3-dimensional point clouds of an environment, and the Kinect’s location in it, can be found on the fly. One application of the this new ability is to the segmentation and categorization of an environment, and the generation of a simple floor plan. The projects goal is to generate a simple, reasonably fast set of tools that segments simple Point Clouds into seperate objects, assigns them basic categories (movable and unmovable), and generates a simple blueprint for the environment. The results can be used for navigation, or tasks such as moving around and sorting objects in a room. Another possible use is the detection of doorways. In the future, more work on the segmentation algorithms would be desired. I
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