A System for Semi-automatic Modeling of Complex Environments
Conference Paper, Proceedings of International Conference on Recent Advances in 3-D Digital Imaging and Modeling (NRC '97), pp. 213 - 220, May, 1997
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.
BibTeX
@conference{Johnson-1997-14373,author = {Andrew Johnson and Regis Hoffman and James Osborn and Martial Hebert},
title = {A System for Semi-automatic Modeling of Complex Environments},
booktitle = {Proceedings of International Conference on Recent Advances in 3-D Digital Imaging and Modeling (NRC '97)},
year = {1997},
month = {May},
pages = {213 - 220},
}
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