复杂环境的半自动建模系统

Proceedings. International Conference on Recent Advances in 3-D Digital Imaging and Modeling (Cat. No.97TB100134) Pub Date : 1997-05-12 DOI:10.1109/IM.1997.603868

Andrew E. Johnson, R. Hoffman, J. Osborn, M. Hebert

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引用次数: 63

摘要

我们提出了一个叫做Artisan的感知系统，它可以半自动地建立机器人工作空间的三维模型。用扫描激光测距仪获取距离图像，然后根据系统的传感器特性进行处理，去除噪声和伪影。复杂的三维物体表示为表面网格，随后在距离图像中识别并插入到虚拟工作空间中。这个图形化的虚拟工作空间随后被人类操作员用来规划和执行远程机器人操作。

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A system for semi-automatic modeling of complex environments

We present a perception system, called Artisan, that semi-automatically builds 3-D models of a robot's workspace. Range images are acquired with a scanning laser rangefinder and then processed, based an a systematic sensor characterization, to remove noise and artifacts. Complex 3-D objects represented as surface meshes are subsequently recognized in the range images and inserted into a virtual workspace. This graphical virtual workspace is then used to by human operators to plan and execute remote robotic operations.

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Proceedings. International Conference on Recent Advances in 3-D Digital Imaging and Modeling (Cat. No.97TB100134)

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