Title :
A system for semi-automatic modeling of complex environments
Author :
Johnson, Andrew E. ; Hoffman, Regis ; Osborn, Jim ; Hebert, Martial
Author_Institution :
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
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
Keywords :
laser ranging; noise; solid modelling; 3-D models; Artisan; complex environments; perception system; range images; remote robotic operations; scanning laser rangefinder; semi-automatic modeling system; surface meshes; systematic sensor characterization; virtual workspace; Automatic control; Displays; Image recognition; Laser modes; Laser noise; Layout; Orbital robotics; Robot sensing systems; Robotics and automation; Sensor systems;
Conference_Titel :
3-D Digital Imaging and Modeling, 1997. Proceedings., International Conference on Recent Advances in
Conference_Location :
Ottawa, Ont.
Print_ISBN :
0-8186-7943-3
DOI :
10.1109/IM.1997.603868
