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, Ken'ichi Morooka

Research output: Contribution to conferencePaper

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
Pages1853-1858
Number of pages6
Publication statusPublished - 1998
Externally publishedYes
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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    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. 1853-1858. Paper presented at Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3), Victoria, Can, .