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View planning for automated site modeling

Paul S. Blaer; Peter K. Allen

Title:
View planning for automated site modeling
Author(s):
Blaer, Paul S.
Allen, Peter K.
Date:
Type:
Articles
Department:
Computer Science
Permanent URL:
Book/Journal Title:
Proceedings 2006 IEEE International Conference on Robotics and Automation May 15-19, 2006, Orlando, Florida, USA.
Publisher:
IEEE
Publisher Location:
Piscataway, N.J.
Abstract:
We present a systematic method for constructing 3-D models of large outdoor sites. The method is designed for a mobile robot platform and incorporates automated acquisition of scanned data as well as automated view planning and model construction. In our modeling process, we first use a preliminary view or set of preplanned views to yield an initial, approximate, 3-D model of the target structure. Then, we update this model by using a voxel-based procedure to plan and acquire the next best view. This updating is repeated sequentially until an accurate and complete 3-D model is finally obtained. The method was successfully tested on a portion of the Columbia University campus.
Subject(s):
Computer science
Publisher DOI:
http://dx.doi.org/10.1109/ROBOT.2006.1642097
Item views:
64
Metadata:
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