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
fDate :
28 Sept.-2 Oct. 2004
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;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1389947
