The digital Michelangelo project: 3D scanning of large statues
Proceedings of the 27th annual conference on Computer graphics and interactive techniques
International Journal of Computer Vision - Special issue on statistical and computational theories of vision: modeling, learning, sampling and computing, Part I
Using Real-Time Stereo Vision for Mobile Robot Navigation
Autonomous Robots
The Impact of Dense Range Data on Computer Graphics
MVIEW '99 Proceedings of the IEEE Workshop on Multi-View Modeling & Analysis of Visual Scenes
Image-based models with applications in mobile robotics
Image-based models with applications in mobile robotics
Direct evidence for occlusion in stereo and motion
Image and Vision Computing
Inter-Image Statistics for 3D Environment Modeling
International Journal of Computer Vision
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In mobile robotics, the inference of the 3D layout of large-scale indoor environments is a critical problem for achieving exploration and navigation tasks. This article presents a framework for building a 3D model of an indoor environment from partial data using a mobile robot. The modeling of a large-scale environment involves the acquisition of a huge amount of range data to extract the geometry of the scene. This task is physically demanding and time consuming for many real systems. Our approach overcomes this problem by allowing a robot to rapidly collect a set of intensity images and a small amount of range information. The method integrates and analyzes the statistical relationships between the visual data and the limited available depth on terms of small patches and is capable of recovering complete dense range maps. Experiments on real-world data are given to illustrate the suitability of our approach.