Obtaining 3D models of indoor environments with a mobile robot by estimating local surface directions
✍ Scribed by Mariano Martín Nevado; Jaime Gómez García-Bermejo; Eduardo Zalama Casanova
- Publisher
- Elsevier Science
- Year
- 2004
- Tongue
- English
- Weight
- 316 KB
- Volume
- 48
- Category
- Article
- ISSN
- 0921-8890
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✦ Synopsis
In this paper a method for obtaining the location, size and shape of main surfaces in an environment, from points measured by a laser scanner on board a mobile robot, is presented. The most likely orientation of the surface normal is first calculated at every point, from points in an adaptive-radius neighboring region. Then, similar planes are merged under orientation and distance criteria. Finally, points are projected onto the planes they belong to, and the corresponding boundaries are obtained from Voronoi's diagram. A simple representation of the environment is thus obtained, which matches the real topology thanks to the detailed prior analysis of the local geometry at every point.