Paper Info
Title
Automatic Model Refinement for 3D Reconstruction with Mobile Robots
Abstract
Precise digital 3D models of indoor environments are needed in several applications, e.g., facility management, architecture, rescue and inspection robotics. This paper presents a new algorithm that transforms a 3D volumetric model into a very precise compact 3D map and generates semantic descriptions. Our system is composed of a robust, autonomous mobile robot for the automatic data acquisition and a precise, cost effective, high quality 3D laser scanner to gage indoor environments. The reconstruction method consists of reliable scan matching and feature detection algorithms. The 3D scene is matched against a coarse semantic description of general indoor environments and the generated knowledge is used to refine the 3D model.
Year
DOI
Venue
2003
10.1109/IM.2003.1240274
FOURTH INTERNATIONAL CONFERENCE ON 3-D DIGITAL IMAGING AND MODELING, PROCEEDINGS
Keywords
Field
DocType
semantic networks,image registration,feature extraction,image reconstruction,facility management,data acquisition,mobile robots,mobile robot,3d reconstruction,cost effectiveness,feature detection
Iterative reconstruction,Computer vision,Computer science,Data acquisition,Feature extraction,Semantic network,Artificial intelligence,Mobile robot,Robotics,Image registration,3D reconstruction
Conference
Citations 
PageRank 
References 
35
3.55
17
Authors
3
Name
Order
Citations
PageRank
Andreas Nüchter1134190.03
Hartmut Surmann269950.40
Joachim Hertzberg31571142.29