1 January 1987 3-D World Modeling For An Autonomous Robot
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Proceedings Volume 0852, Mobile Robots II; (1987) https://doi.org/10.1117/12.968239
Event: Advances in Intelligent Robotics Systems, 1987, Cambridge, CA, United States
This paper presents a methodology for a concise representation of the 3-D world model for a mobile robot, using range data. The process starts with the segmentation of the scene into "objects" that are given a unique label, based on principles of range continuity. Then the external surface of each object is partitioned into homogeneous surface patches. Contours of surface patches in 3-D space are identified by estimating the normal and curvature associated with each pixel. The resulting surface patches are then classified as planar, convex or concave. Since the world model uses a volumetric representation for the 3-D environment, planar surfaces are represented by thin volumetric polyhedra. Spherical and cylindrical surfaces are extracted and represented by appropriate volumetric primitives. All other surfaces are represented using the boolean union of spherical volumes (as described in a separate paper by the same authors). The result is a general, concise representation of the external 3-D world, which allows for efficient and robust 3-D object recognition.
© (1987) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
M. Goldstein, M. Goldstein, F. G. Pin, F. G. Pin, C. R. Weisbin, C. R. Weisbin, } "3-D World Modeling For An Autonomous Robot", Proc. SPIE 0852, Mobile Robots II, (1 January 1987); doi: 10.1117/12.968239; https://doi.org/10.1117/12.968239

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