3D laser measurement system for large scale architectures using multiple mobile robots

Ryo Kurazume, Yukihiro Tobata, Yumi Iwashita, Tsutomu Hasegawa

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

19 Citations (Scopus)

Abstract

In order to construct three dimensional shape models of large scale architectures by a laser range finder, a number of range images are normally taken from various viewpoints and these images are aligned using post-processing procedure such as ICP algorithm. However in general, before applying ICP algorithm, these range images have to be registered to correct positions roughly by a human operator in order to converge to precise positions. In addition, range images must be overlapped sufficiently each other by taking dense images from close viewpoints. On the other hand, if poses of the laser range finder at viewpoints can be identified precisely, local range images can be converted to the world coordinate system directly with simple transformation calculation. This paper proposes a new measurement system for large scale architectures using a group of multiple robots and an on-board laser range finder. Each measurement position is identified by the highly precise positioning technique named Cooperative Positioning System or CPS which utilizes the characteristics of multiple robots system. The proposed system can construct 3D shapes of large scale architectures without any post-processing procedure such as ICP algorithm and dense range measurements. The measurement experiments in unknown and large indoor/outdoor environments are successfully carried out using the newly developed measurement system consisting of three mobile robots named CPS-V.

Original languageEnglish
Title of host publicationProceedings - 6th International Conference on 3-D Digital Imaging and Modeling, 3DIM 2007
Pages91-98
Number of pages8
DOIs
Publication statusPublished - Dec 1 2007
Event6th International Conference on 3-D Digital Imaging and Modeling, 3DIM 2007 - Montreal, QC, Canada
Duration: Aug 21 2007Aug 23 2007

Other

Other6th International Conference on 3-D Digital Imaging and Modeling, 3DIM 2007
CountryCanada
CityMontreal, QC
Period8/21/078/23/07

Fingerprint

Mobile robots
Range finders
Lasers
Robots
Position measurement
Processing
Experiments

All Science Journal Classification (ASJC) codes

  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Computer Vision and Pattern Recognition

Cite this

Kurazume, R., Tobata, Y., Iwashita, Y., & Hasegawa, T. (2007). 3D laser measurement system for large scale architectures using multiple mobile robots. In Proceedings - 6th International Conference on 3-D Digital Imaging and Modeling, 3DIM 2007 (pp. 91-98). [4296743] https://doi.org/10.1109/3DIM.2007.2

3D laser measurement system for large scale architectures using multiple mobile robots. / Kurazume, Ryo; Tobata, Yukihiro; Iwashita, Yumi; Hasegawa, Tsutomu.

Proceedings - 6th International Conference on 3-D Digital Imaging and Modeling, 3DIM 2007. 2007. p. 91-98 4296743.

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

Kurazume, R, Tobata, Y, Iwashita, Y & Hasegawa, T 2007, 3D laser measurement system for large scale architectures using multiple mobile robots. in Proceedings - 6th International Conference on 3-D Digital Imaging and Modeling, 3DIM 2007., 4296743, pp. 91-98, 6th International Conference on 3-D Digital Imaging and Modeling, 3DIM 2007, Montreal, QC, Canada, 8/21/07. https://doi.org/10.1109/3DIM.2007.2
Kurazume R, Tobata Y, Iwashita Y, Hasegawa T. 3D laser measurement system for large scale architectures using multiple mobile robots. In Proceedings - 6th International Conference on 3-D Digital Imaging and Modeling, 3DIM 2007. 2007. p. 91-98. 4296743 https://doi.org/10.1109/3DIM.2007.2
Kurazume, Ryo ; Tobata, Yukihiro ; Iwashita, Yumi ; Hasegawa, Tsutomu. / 3D laser measurement system for large scale architectures using multiple mobile robots. Proceedings - 6th International Conference on 3-D Digital Imaging and Modeling, 3DIM 2007. 2007. pp. 91-98
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