Scheduled System Maintenance:
Some services will be unavailable Sunday, March 29th through Monday, March 30th. We apologize for the inconvenience.
By Topic

Uniform and complete surface coverage with a robot-mounted laser rangefinder

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

The purchase and pricing options are temporarily unavailable. Please try again later.
3 Author(s)
Soucy, G. ; Artificial Perception Lab., McGill Univ., Montreal, Que., Canada ; Callari, F.G. ; Ferrie, F.P.

Describes a system for automatically digitizing the surfaces of a completely unknown object to a prescribed sampling density. Unlike many available commercial systems (e.g. Cyberware), our system analyzes actively the data and computes sensor trajectories to achieve complete surface coverage taking into account the limitations of the sensor/manipulator. This represents in fact an active approach to the problem of complete object digitization, working directly at the measurement level, as opposed to existing off-line methods that perform post-processing on a fixed data set. We propose a theoretical framework to achieve this goal and we present preliminary results of a laboratory implementation

Published in:

Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on  (Volume:3 )

Date of Conference:

13-17 Oct 1998