A Solution to the Next Best View Problem for Automated Surface Acquisition
IEEE Transactions on Pattern Analysis and Machine Intelligence
Augmented Scene Modeling and Visualization by Optical and Acoustic Sensor Integration
IEEE Transactions on Visualization and Computer Graphics
Rapid Object Indexing Using Locality Sensitive Hashing and Joint 3D-Signature Space Estimation
IEEE Transactions on Pattern Analysis and Machine Intelligence
Large data sets and confusing scenes in 3-D surface matching and recognition
3DIM'99 Proceedings of the 2nd international conference on 3-D digital imaging and modeling
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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.