NDLI: 3-D object modeling and recognition for telerobotic manipulation

Content Provider	IEEE Xplore Digital Library
Author	Johnson, A. Leger, P. Hoffman, R. Hebert, M. Osborn, J.
Copyright Year	1995
Description	Author affiliation: Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA (Johnson, A.; Leger, P.; Hoffman, R.; Hebert, M.)
Abstract	This paper describes a system that semi-automatically builds a virtual world for remote operations by constructing 3-D models of a robot's work environment. With a minimum of human interaction, planar and quadric surface representations of objects typically found in man-made facilities are generated from laser rangefinder data. The surface representations are used to recognize complex models of objects in the scene. These object models are incorporated into a larger world model that can be viewed and analyzed by the operator, accessed by motion planning and robot safeguarding algorithms, and ultimately used by the operator to command the robot through graphical programming and other high level constructs. Limited operator interaction, combined with assumptions about the robots task environment, make the problem of modeling and recognizing objects tractable and yields a solution that can be readily incorporated into many telerobotic control schemes.
Starting Page	103
Ending Page	110
File Size	1107097
Page Count	8
File Format	PDF
ISBN	0818671084
DOI	10.1109/IROS.1995.525782
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1995-08-05
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Telerobotics Robotics and automation Cameras Robot sensing systems Sensor systems Humans Laser modes Manipulators Computer vision US Department of Energy
Content Type	Text
Resource Type	Article

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