Biber, P., Andreasson, H., Duckett, T. et al 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.
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Item Type: | Conference or Workshop contribution (Paper) |
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Item Status: | Live Archive |
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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.
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