1 February 1992 Building a space occupancy model for a power-line maintenance robot using a range data sensor
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Abstract
A telerobotic system for power-line maintenance is equipped with a laser range-finder allowing it to perform an estimation of its workspace occupancy. This paper describes the model used for describing space occupancy and the 3-D computer vision method developed for extracting this information. It consists in building an octree of the scene from several range images taken from various points of view. A calibration is performed using the first image in order to find the initial position of the camera relative to the scene. Successive 3-D images are used to complete the model information until a satisfying knowledge of the space occupancy is reached.
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Alain Croteau, Denis Laurendeau, Jean Lessard, "Building a space occupancy model for a power-line maintenance robot using a range data sensor", Proc. SPIE 1607, Intelligent Robots and Computer Vision X: Algorithms and Techniques, (1 February 1992); doi: 10.1117/12.57107; https://doi.org/10.1117/12.57107
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