DocumentCode
2489543
Title
3D modeling of indoor environments by a mobile robot with a laser scanner and panoramic camera
Author
Biber, Peter ; Andreasson, Henrik ; Duckett, Tom ; Schilling, Andreas
Author_Institution
WSI/GRIS, Tubingen Univ., Germany
Volume
4
fYear
2004
fDate
28 Sept.-2 Oct. 2004
Firstpage
3430
Abstract
We present a method to acquire a realistic, visually convincing 3D model of indoor office environments based on a mobile robot that is equipped with a laser range scanner and a panoramic camera. The data of the 2D laser scans are used to solve the SLAM problem and to extract walls. Textures for walls and floor are built from the images of a calibrated panoramic camera. Multiresolution blending is used to hide seams in the generated textures.
Keywords
cameras; feature extraction; laser ranging; mobile robots; optical scanners; robot vision; 3D modeling; SLAM problem; indoor office environments; laser range scanner; mobile robot; multiresolution blending; panoramic camera; Cameras; Data mining; Floors; Indoor environments; Laser modes; Layout; Mobile robots; Rendering (computer graphics); Robot vision systems; Solid modeling;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN
0-7803-8463-6
Type
conf
DOI
10.1109/IROS.2004.1389947
Filename
1389947
Link To Document