Blaer Paul S. author Columbia University. Computer Science Allen Peter K. author Columbia University. Computer Science Columbia University. Computer Science originator text Articles 2006 English 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. Computer science Piscataway, N.J. IEEE 2006 2621 2626 http://dx.doi.org/10.1109/ROBOT.2006.1642097 http://hdl.handle.net/10022/AC:P:15163 NNC NNC 2012-11-02 16:12:11 -0400 2012-11-02 16:17:16 -0400 9165 eng