DocumentCode
1607713
Title
A system for semi-automatic modeling of complex environments
Author
Johnson, Andrew E. ; Hoffman, Regis ; Osborn, Jim ; Hebert, Martial
Author_Institution
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
fYear
1997
Firstpage
213
Lastpage
220
Abstract
We present a perception system, called Artisan, that semi-automatically builds 3-D models of a robot´s workspace. Range images are acquired with a scanning laser rangefinder and then processed, based an a systematic sensor characterization, to remove noise and artifacts. Complex 3-D objects represented as surface meshes are subsequently recognized in the range images and inserted into a virtual workspace. This graphical virtual workspace is then used to by human operators to plan and execute remote robotic operations
Keywords
laser ranging; noise; solid modelling; 3-D models; Artisan; complex environments; perception system; range images; remote robotic operations; scanning laser rangefinder; semi-automatic modeling system; surface meshes; systematic sensor characterization; virtual workspace; Automatic control; Displays; Image recognition; Laser modes; Laser noise; Layout; Orbital robotics; Robot sensing systems; Robotics and automation; Sensor systems;
fLanguage
English
Publisher
ieee
Conference_Titel
3-D Digital Imaging and Modeling, 1997. Proceedings., International Conference on Recent Advances in
Conference_Location
Ottawa, Ont.
Print_ISBN
0-8186-7943-3
Type
conf
DOI
10.1109/IM.1997.603868
Filename
603868
Link To Document