Fusing laser and image data for 3D perceived space representations
Bourbakis, N.
Andel, R.
Center for Intelligent Syst., Binghamton Univ., NY ;
This paper appears in: Tools with Artificial Intelligence, 1997. Proceedings., Ninth IEEE International Conference on
Publication Date: 3-8 Nov 1997
On page(s): 50-58
Meeting Date: 11/03/1997 - 11/08/1997
Location: Newport Beach, CA, USA
ISBN: 0-8186-8203-5
References Cited: 16
INSPEC Accession Number: 5774762
Digital Object Identifier: 10.1109/TAI.1997.632236
Current Version Published: 2002-08-06
Abstract
In this paper a fusion technique is presented for 3-D
representation of space. The technique is based on a fusion process
which involves laser range data and segmented image data with human
expertise related with the surrounding environment. In particular, the
range data may contain noise due to reflections on sloped surfaces or
long distance open corridors, thus the proposed fusion approach removes
the noise by using human expertise from 3-D environments. This method
could be utilized either by an autonomous robot in an unknown
environment, or by an inspection machine in a complex manufacturing
environment, or by a visual navigation device used by blind people.
Additional applications for this technique are the ability to correct
measurement deficiencies in a laser-scan and to provide a true color and
3-D perceived shape representation for a given object in a modeling
environment
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