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Published Articles >> Table of Contents >> Abstract
Fourth International Conference on 3-D Digital Imaging and Modeling (3DIM '03)
p. 394
Automatic Model Refinement for 3D Reconstruction with Mobile Robots
Andreas Nüchter, Fraunhofer Institute for Autonomous Intelligent Systems (AIS)
Hartmut Surmann, Fraunhofer Institute for Autonomous Intelligent Systems (AIS)
Joachim Hertzberg, Fraunhofer Institute for Autonomous Intelligent Systems (AIS)
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DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/IM.2003.1240274
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| Abstract |
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Precise digital 3D models of indoor environments are
needed in several applications, e.g., facility management,
architecture, rescue and inspection robotics. This paper
presents a new algorithm that transforms a 3D volumetric
model into a very precise compact 3D map and generates
semantic descriptions. Our system is composed of a robust,
autonomous mobile robot for the automatic data acquisition
and a precise, cost effective, high quality 3D laser scanner
to gage indoor environments. The reconstruction method
consists of reliable scan matching and feature detection algorithms.
The 3D scene is matched against a coarse semantic
description of general indoor environments and the
generated knowledge is used to refine the 3D model.
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 Additional Information
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Citation:
Andreas Nüchter, Hartmut Surmann, Joachim Hertzberg,
"Automatic Model Refinement for 3D Reconstruction with Mobile Robots,"
3dim,
p. 394,
Fourth International Conference on 3-D Digital Imaging and Modeling (3DIM '03),
2003
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