Automated 3d Reconstruction System for Autonomous Mobile Manipulator and Vehicle-borne
نویسندگان
چکیده
To construct realistic 3D models of large environments that match the physical world as accurately as possible there is the need to combine several kinds of data sources, such as: ground and aerial laser range scans, tracking data, photos, GPS data, satellite images. In this paper we concentrate on the ground level data acquisition. We present two integrated solutions for automated 3D acquisition and reconstruction of real scenes based on active range data having centimetre resolution and automatic capturing of colour: an indoor mobile robot platform prototype and an outdoor prototype mounted on roof of a car for modelling large urban areas. Copyright © 2005 IFAC
منابع مشابه
Are Autonomous Mobile Robots Able to Take Over Construction? A Review
Although construction has been known as a highly complex application field for autonomous robotic systems, recent advances in this field offer great hope for using robotic capabilities to develop automated construction. Today, space research agencies seek to build infrastructures without human intervention, and construction companies look to robots with the potential to improve construction qua...
متن کاملAn integrated development process for automated or driver- assist vehicles
We describe the methodology, tools and technologies for designing and implementing communication and control systems for networked automated or driver assist vehicles. In addressing design, we discuss enabling methodologies and our suite of enabling computational tools for formal modeling, simulation, and implementation. We illustrate our description with design, development and implementation ...
متن کاملPicking up an Unknown Object through Autonomous Modeling and Grasp Planning by a Mobile Manipulator
This paper describes a novel framework for object picking and carrying task by a mobile manipulator. Conventionally, researches on mobile manipulator cope well with object manipulation task with utilizing predefined knowledge or specific tools. So these researches have an essential problem that a new target object cannot be added without relatively many preparation. On the other hand, in our fr...
متن کاملMulti-objective Sensor Planning for Efficient and Accurate Object Reconstruction
A novel approach for sensor planning, which incorporates multi-objective optimization principals into the autonomous design of sensing strategies, is presented. The study addresses planning the behavior of an automated 3D inspection system, consisting of a manipulator robot in an Eye-on-Hand configuration. Task planning in this context is stated as a constrained multi-objective optimization pro...
متن کاملStudy on Key Technologies of Vehicle-borne Mobile Mapping System Integrated with Gps/ins/ccd Cameras
Direct positioning and data acquisition system, composed of global positioning system (GPS), inertial navigation system (INS), laser ranging technique and digital photogrammetry, is a fast data acquiring technique developed in the field of surveying and mapping in recent years. Focusing on data acquisition based on vehicle-borne mobile mapping system integrated with GPS/INS/CCD cameras, this pa...
متن کامل