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Precise digital 3D models of indoor environments are needed in several applications, e.g., facility management, architecture, rescue and inspection robotics. We present 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.
Date of Conference: 6-10 Oct. 2003