A system for semi-automatic modeling of complex environments

被引：28

作者：

Johnson, AE

Hoffman, R

Osborn, J

Hebert, M

机构：

来源：

INTERNATIONAL CONFERENCE ON RECENT ADVANCES IN 3-D DIGITAL IMAGING AND MODELING, PROCEEDINGS | 1997年

关键词：

D O I：

10.1109/IM.1997.603868

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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 on 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.

引用

页码：213 / 220

页数：8