3D modelling of in-door scenes using laser range sensing
This paper describes the automatic creation of a 3D volumetric model of an unknown environment based on data acquired by a laser range finder (LFR) on board a mobile robot. Constructing the model requires sensing and interpretation, ranging from low-level data collection to high-level scene modelling. The results from the complete modelling procedure are presented, starting with the extraction of surface characteristics from range images, approximation of the surface geometry by a 3D triangular surface mesh and the merging of the surface descriptions from different viewpoints into a consistent 3D model scene.
Bibliographic Reference: Paper presented: MVA'94 : IAPR Workshop on Machine Vision Applications, Kawasaki (JP), December 13-15, 1994
Availability: Available from (1) as Paper EN 38704 ORA
Record Number: 199411537 / Last updated on: 1995-01-10
Original language: en
Available languages: en