3-dimensional object model construction from range images taken by a range finder on a mobile robot

Nobuhiro Okada, Hongbin Zha, Tadashi Nagata, Eiji Kondo, Kenichi Morooka

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

To construct a 3D model of an object in a computer, a range finder is used to obtain range images of the object. The range finder takes range images from many view points to eliminate the influence of occlusions. A registration algorithm is, then, used to merge the range images. When the range finder is mounted on a mobile robot and measures while moving, range images taken by it will be distorted. We extended the registration algorithm to remove the deformation. The extended algorithm can remove it and is used to construct a 3D model even for a case where the speed parameters of the robot are not well known.

Original languageEnglish
Title of host publicationInnovations in Theory, Practice and Applications
Editors Anon
PublisherIEEE
Pages1853-1858
Number of pages6
Volume3
Publication statusPublished - 1998
EventProceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3) - Victoria, Can
Duration: Oct 13 1998Oct 17 1998

Other

OtherProceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3)
CityVictoria, Can
Period10/13/9810/17/98

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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    Okada, N., Zha, H., Nagata, T., Kondo, E., & Morooka, K. (1998). 3-dimensional object model construction from range images taken by a range finder on a mobile robot. In Anon (Ed.), Innovations in Theory, Practice and Applications (Vol. 3, pp. 1853-1858). IEEE.