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This paper describes a technique for constructing a geometric model of an unknown environment based on data acquired by a laser range finder on board a mobile robot. The geometric model would be most useful both for navigation and verification purposes. The paper presents all the steps needed for the description of the environment, including the range image acquisition and processing, 3D surface reconstruction and the problem of merging multiple images in order to obtain a complete model.

Additional information

Authors: SEQUEIRA V, JRC Ispra (IT);GONÇALVES J G M, JRC Ispra (IT);RIBEIRO M I, Instituto Superior Técnico, Dept. Eng. Electrotécnica e Computadores, Lisboa (PT);GONCALVES J G M, JRC Ispra (IT)
Bibliographic Reference: Paper presented: International Symposium on Intelligent Robotic Systems, Grenoble (FR), July 11-15, 1994
Availability: Available from (1) as Paper EN 38483 ORA
Record Number: 199410995 / Last updated on: 1994-11-28
Original language: en
Available languages: en