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

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 conference › Paper › peer-review

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 language	English
Pages	1853-1858
Number of pages	6
Publication status	Published - 1998
Externally published	Yes
Event	Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3) - Victoria, Can Duration: Oct 13 1998 → Oct 17 1998

Other

Other	Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3)
City	Victoria, Can
Period	10/13/98 → 10/17/98

ASJC Scopus subject areas

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

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3-dimensional object model construction from range images taken by a range finder on a mobile robot. / Okada, Nobuhiro; Zha, Hongbin; Nagata, Tadashi; Kondo, Eiji; Morooka, Ken'ichi.

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

Research output: Contribution to conference › Paper › peer-review

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year = "1998",

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AU - Kondo, Eiji

AU - Morooka, Ken'ichi

PY - 1998

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