3-dimensional object model construction from range images taken by a range finder on a mobile robot

Author

Okada, Nobuhiro ; Zha, Hongbin ; Nagata, Tadashi ; Kondo, Eiji ; Morooka, Ken´ichi

Author_Institution

Kyushu Univ., Fukuoka, Japan

Volume

3

fYear

1998

fDate

13-17 Oct 1998

Firstpage

1853

Abstract

To construct a 3D model of an object in a computer, a range finder is used to obtain range images of the object. The range finder takes range images from many view points to eliminate the influence of occlusions. A registration algorithm is, then, used to merge the range images. When the range finder is mounted on a mobile robot and measures while moving, range images taken by it will be distorted. We extended the registration algorithm to remove the deformation. The extended algorithm can remove it and is used to construct a 3D model even for a case where the speed parameters of the robot are not well known

Keywords

image reconstruction; image registration; laser ranging; mobile robots; 3D object model construction; deformation removal; mobile robot; occlusions; range finder; range image merging; registration algorithm; speed parameters; Biological system modeling; Distortion measurement; Footwear; Humans; Information technology; Manipulators; Mobile robots; Position measurement; Production facilities; Robotic assembly;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on

Conference_Location

Victoria, BC

Print_ISBN

0-7803-4465-0

Type

conf

DOI

10.1109/IROS.1998.724866

Filename

724866