2002 · 50 citations · 10 references
EngineeringComputer ScienceRobotics Engineering3D ModelingRobot PerceptionRobotics3D ReconstructionEnvironment RepresentationMappingPoint Cloud ProcessingScene ReconstructionWorkspace Analysis3D Scene Modeling3D Scene Representation3D Scene UnderstandingOperatorsPerceptionRobotic PerceptionSensor CharacterizationThree-dimensional Scene Reconstruction
We present a perception system, called Artisan, that semi-automatically builds 3-D models of a robot's workspace. Range images are acquired with a scanning laser rangefinder and then processed, based an a systematic sensor characterization, to remove noise and artifacts. Complex 3-D objects represented as surface meshes are subsequently recognized in the range images and inserted into a virtual workspace. This graphical virtual workspace is then used to by human operators to plan and execute remote robotic operations.
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