The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

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 an 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.

Notes

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

Associated Lab(s) / Group(s): 3D Computer Vision Group

Associated Project(s): 3D Object Recognition

Text Reference

Andrew Johnson, Regis Hoffman, James Osborn, and Martial Hebert, "A System for Semi-automatic Modeling of Complex Environments," International Conference on Recent Advances in 3-D Digital Imaging and Modeling, May, 1997, pp. 213-220.

BibTeX Reference

@inproceedings{Johnson_1997_975,
   author = "Andrew Johnson and Regis Hoffman and James Osborn and Martial Hebert",
   title = "A System for Semi-automatic Modeling of Complex Environments",
   booktitle = "International Conference on Recent Advances in 3-D Digital Imaging and Modeling",
   pages = "213-220",
   month = "May",
   year = "1997",
}

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