Title :
3D object modelling in mobile robot environment using B-spline surfaces
Author :
Drapikowski, Pawel ; Nowakowski, Tomasz
Author_Institution :
Dept. of Control, Robotics & Comput. Sci., Tech. Univ. Poznan, Poland
Abstract :
This paper describes a technique for building a 3D volumetric model of an unknown surrounding based on data acquired by the IR Range Finder located on board a mobile robot. The paper presents all the steps needed for the description of the environment, including measurement data acquisition, sample processing and 3D surface-model reconstruction.
Keywords :
data acquisition; distance measurement; image reconstruction; image sampling; mobile robots; object recognition; robot vision; splines (mathematics); surface fitting; 3D surface-model reconstruction; 3D volumetric model; IR Range Finder; environment description; measurement data acquisition; mobile robot; sample processing; unknown surrounding; Image reconstruction; Layout; Mobile robots; Navigation; Polynomials; Reconstruction algorithms; Robot control; Robot sensing systems; Spline; Surface reconstruction;
Conference_Titel :
3D Data Processing Visualization and Transmission, 2002. Proceedings. First International Symposium on
Print_ISBN :
0-7695-1521-4
DOI :
10.1109/TDPVT.2002.1024139
