Title :
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
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;
Conference_Titel :
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-4465-0
DOI :
10.1109/IROS.1998.724866
