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A system for semi-automatic modeling of complex environments

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4 Author(s)
Johnson, A.E. ; Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA ; Hoffman, R. ; Osborn, J. ; Hebert, M.

We present a perception system, called Artisan, that semi-automatically builds 3-D models of a robot's workspace. Range images are acquired with a scanning laser rangefinder and then processed, based an a systematic sensor characterization, to remove noise and artifacts. Complex 3-D objects represented as surface meshes are subsequently recognized in the range images and inserted into a virtual workspace. This graphical virtual workspace is then used to by human operators to plan and execute remote robotic operations

Published in:

3-D Digital Imaging and Modeling, 1997. Proceedings., International Conference on Recent Advances in

Date of Conference:

12-15 May 1997