NDLI: Automated 3D scenes reconstruction for mobile robots using laser scanning

Content Provider	IEEE Xplore Digital Library
Author	Zheng Keqiang Zhuang Yan Wang Wei
Copyright Year	2009
Description	Author affiliation: Research Center of Information and Control, Dalian University of Technology, 116024, China (Zheng Keqiang; Zhuang Yan; Wang Wei)
Abstract	The fast reconstruction for 3D environment is a challenging work for autonomous mobile robots. This paper presents an automated 3D scenes reconstruction method based on ICP algorithm. According to the order relations of 3D laser scanning, an effective edge feature extraction method is proposed to extract the edge points in the 3D scenes. The edge points instead of the initial points are used in pairs matching in the course of ICP registration, which can reduce the computational burden significantly. A 3D-grid-division method is adopted to reduce the redundant data points in the overlapping areas of multiple scans. The data points are distributed into small voxels and the point nearest to the center is extracted to reconstruct a new scene. According to the reduced points in the reconstructed scene, digitalization of 3D environment is implemented by using 3D grids and surface meshes. A series of experiment results and data analysis show the method's validity and practicability.
Starting Page	3007
Ending Page	3012
File Size	1202188
Page Count	6
File Format	PDF
ISBN	9781424427222
DOI	10.1109/CCDC.2009.5192430
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-06-17
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Reconstruction algorithms edge extraction mobile robots Mobile robots Data mining Robotics and automation scenes registration Laser theory Surface reconstruction data reduction Iterative closest point algorithm 3D scenes reconstruction Layout Feature extraction Laser modes
Content Type	Text
Resource Type	Article

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