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
收藏
页码：213 / 220
页数：8
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