3D modeling of indoor environments by a mobile robot with a laser scanner and panoramic camera

Biber, P. and Andreasson, H. and Duckett, T. and Schilling, A. (2004) 3D modeling of indoor environments by a mobile robot with a laser scanner and panoramic camera. In: 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2004)., 28 September - 2 October 2004, Sendai, Japan.

Documents
finalMarch15.pdf
[img]
[Download]
[img]
Preview
PDF
finalMarch15.pdf - Whole Document

338kB
Item Type:Conference or Workshop contribution (Paper)
Item Status:Live Archive

Abstract

We present a method to acquire a realistic, visually convincing 3D model of indoor office environments based on a mobile robot that is equipped with a laser range scanner and a panoramic camera. The data of the 2D laser scans are used to solve the SLAM problem and to extract walls. Textures for walls and floor are built from the images of a calibrated panoramic camera. Multi-resolution blending is used to hide seams in the generated textures.

Keywords:3D Mapping, Mobile Robotics, Sensor Fusion
Subjects:G Mathematical and Computer Sciences > G700 Artificial Intelligence
Divisions:College of Science > School of Computer Science
Related URLs:
ID Code:29079
Deposited On:06 Nov 2017 16:50

Repository Staff Only: item control page