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Carnegie Mellon Robotics Institute

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Abstract

We present a method for building models of complex environments from range data gathered at multiple viewpoints. Our approach is unique in that no prior knowledge of the relative positions of the viewpoints is needed in order to register data from them. Furthermore, we present a technique for specification and utilization of so-called "common-sense" constraints on the transformations between views to improve the accuracy and speed of the registration process. Results are shown from our effort to map a 60 m by 20 m multiple-room storage area containing a cluttered array of objects.

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Text Reference

Owen Carmichael and Martial Hebert, "Unconstrained Registration of Large 3D Point Sets for Complex Model Building," Proceedings 1998 IEEE/RSJ International Conference On Intelligent Robotic Systems (IROS '98), October, 1998, pp. 360 - 367.

BibTeX Reference

@inproceedings{Carmichael_1998_1293,
   author = "Owen Carmichael and Martial Hebert",
   title = "Unconstrained Registration of Large 3D Point Sets for Complex Model Building",
   booktitle = "Proceedings 1998 IEEE/RSJ International Conference On Intelligent Robotic Systems (IROS '98)",
   pages = "360 - 367",
   month = "October",
   year = "1998",
   volume = "1",
}

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