View planning for automated site modeling 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 Proceedings 2006 IEEE International Conference on Robotics and Automation May 15-19, 2006, Orlando, Florida, USA. Piscataway, N.J. IEEE 2006 2621 2626 http://dx.doi.org/10.1109/ROBOT.2006.1642097 </titleInfo> </relatedItem> </relatedItem> <identifier type="hdl">http://hdl.handle.net/10022/AC:P:15163</identifier> <location> <physicalLocation authority="marcorg">NNC</physicalLocation> </location> <recordInfo> <recordContentSource authority="marcorg">NNC</recordContentSource> <recordCreationDate encoding="w3cdtf">2012-11-02 16:12:11 -0400</recordCreationDate> <recordChangeDate encoding="w3cdtf">2012-11-02 16:17:16 -0400</recordChangeDate> <recordIdentifier>9165</recordIdentifier> <languageOfCataloging> <languageTerm authority="iso639-2b">eng</languageTerm> </languageOfCataloging> </recordInfo> </mods>