3D ENVIRONMENT MODELING USING LASER RANGE SENSING

被引：22

作者：

SEQUEIRA, V ^{[1
]}

GONCALVES, JGM ^{[1
]}

RIBERIRO, MI ^{[1
]}

机构：

[1] Univ Tecn Lisboa, DEPT ENG ELECTROTECN & COMPUTADORES, INST SUPER TECN, P-1096 LISBON, PORTUGAL

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 1995年 / 16卷 / 01期

关键词：

RANGE IMAGES; LASER SENSING; SURFACE RECONSTRUCTION; MULTIPLE VIEWS; 3D SCENE MODELING;

D O I：

10.1016/0921-8890(95)00036-F

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper describes a technique for constructing a geometric model of an unknown environment based on data acquired by a Laser Range Finder on board of a mobile robot. The geometric model would be most useful both for navigation and verification purposes. The paper presents all the steps needed for the description of the environment, including the range image acquisition and processing, 3D surface reconstruction and the problem of merging multiple images in order to obtain a complete model.

引用

页码：81 / 91

页数：11

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