View planning for automated site modeling

Articles:

Title:: View planning for automated site modeling
Author(s):: Blaer, Paul S.
Allen, Peter K.
Date:: 2006
Type:: Articles
Department:: Computer Science
Permanent URL:: http://hdl.handle.net/10022/AC:P:15163
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
DOI:: http://dx.doi.org/10.1109/ROBOT.2006.1642097