Automatic model refinement for 3D reconstruction with mobile robots

Author

Nuchter, Andreas ; Surmann, Hartmut ; Hertzberg, Joachim

Author_Institution

Fraunhofer Inst. for Autonomous Intelligent Syst., Sankt Augustin, Germany

fYear

2003

fDate

6-10 Oct. 2003

Firstpage

394

Lastpage

401

Abstract

Precise digital 3D models of indoor environments are needed in several applications, e.g., facility management, architecture, rescue and inspection robotics. We present a new algorithm that transforms a 3D volumetric model into a very precise compact 3D map and generates semantic descriptions. Our system is composed of a robust, autonomous mobile robot for the automatic data acquisition and a precise, cost effective, high quality 3D laser scanner to gage indoor environments. The reconstruction method consists of reliable scan matching and feature detection algorithms. The 3D scene is matched against a coarse semantic description of general indoor environments and the generated knowledge is used to refine the 3D model.

Keywords

feature extraction; image matching; image reconstruction; image registration; image scanners; mobile robots; optical scanners; rendering (computer graphics); semantic networks; solid modelling; 3D indoor environment reconstruction; 3D laser scanner; 3D map; automatic data acquisition; automatic model refinement; facility management; feature detection algorithm; inspection robotics; mobile robot; scan matching algorithm; semantic description generation; Costs; Data acquisition; Environmental management; Indoor environments; Inspection; Laser modes; Mobile robots; Reconstruction algorithms; Robotics and automation; Robustness;

fLanguage

English

Publisher

ieee

Conference_Titel

3-D Digital Imaging and Modeling, 2003. 3DIM 2003. Proceedings. Fourth International Conference on

Print_ISBN

0-7695-1991-1

Type

conf

DOI

10.1109/IM.2003.1240274

Filename

1240274