Unconstrained Registration of Large 3D Point Sets for Complex Model Building - Robotics Institute Carnegie Mellon University

Unconstrained Registration of Large 3D Point Sets for Complex Model Building

Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 1, pp. 360 - 367, October, 1998

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.

BibTeX

@conference{Carmichael-1998-14769,
author = {Owen Carmichael and Martial Hebert},
title = {Unconstrained Registration of Large 3D Point Sets for Complex Model Building},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {1998},
month = {October},
volume = {1},
pages = {360 - 367},
}