DocumentCode :
3335995
Title :
3D laser measurement system for large scale architectures using multiple mobile robots
Author :
Kurazume, Ryo ; Tobata, Yukihiro ; Iwashita, Yumi ; Hasegawa, Tsutomu
Author_Institution :
Kyushu Univ., Fukuoka
fYear :
2007
fDate :
21-23 Aug. 2007
Firstpage :
91
Lastpage :
98
Abstract :
In order to construct three dimensional shape models of large scale architectures by a laser range finder, a number of range images are normally taken from various viewpoints and these images are aligned using post-processing procedure such as ICP algorithm. However in general, before applying ICP algorithm, these range images have to be registered to correct positions roughly by a human operator in order to converge to precise positions. In addition, range images must be overlapped sufficiently each other by taking dense images from close viewpoints. On the other hand, if poses of the laser range finder at viewpoints can be identified precisely, local range images can be converted to the world coordinate system directly with simple transformation calculation. This paper proposes a new measurement system for large scale architectures using a group of multiple robots and an on-board laser range finder. Each measurement position is identified by the highly precise positioning technique named cooperative positioning system or CPS which utilizes the characteristics of multiple robots system. The proposed system can construct 3D shapes of large scale architectures without any post-processing procedure such as ICP algorithm and dense range measurements. The measurement experiments in unknown and large indoor/outdoor environments are successfully carried out using the newly developed measurement system consisting of three mobile robots named CPS-V.
Keywords :
laser ranging; mobile robots; multi-robot systems; 3D laser measurement system; 3D shape models; ICP algorithm; cooperative positioning system; large scale architectures; multiple mobile robots; on-board laser range finder; post-processing procedure; Global Positioning System; Humans; Image converters; Iterative closest point algorithm; Large-scale systems; Laser modes; Mobile robots; Robot kinematics; Sensor systems; Shape measurement;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
3-D Digital Imaging and Modeling, 2007. 3DIM '07. Sixth International Conference on
Conference_Location :
Montreal, QC
ISSN :
1550-6185
Print_ISBN :
978-0-7695-2939-4
Type :
conf
DOI :
10.1109/3DIM.2007.2
Filename :
4296743
Link To Document :
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