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Towards the automatic scanning of indoors with robots.

Adán A, Quintana B, Vázquez AS, Olivares A, Parra E, Prieto S - Sensors (Basel) (2015)

Bottom Line: The document presents the principal steps of the process, the experimental setup and the results achieved.The robot imposes a stopping criterion when the whole point cloud covers the essential parts of the scene.The future is addressed to extend the method in much more complex and larger scenarios.

View Article: PubMed Central - PubMed

Affiliation: Visual Computing and Robotics Lab, Universidad de Castilla-La Mancha (UCLM), Paseo de la Universidad, 4, Ciudad Real 13071, Spain. Antonio.Adan@uclm.es.

ABSTRACT
This paper is framed in both 3D digitization and 3D data intelligent processing research fields. Our objective is focused on developing a set of techniques for the automatic creation of simple three-dimensional indoor models with mobile robots. The document presents the principal steps of the process, the experimental setup and the results achieved. We distinguish between the stages concerning intelligent data acquisition and 3D data processing. This paper is focused on the first stage. We show how the mobile robot, which carries a 3D scanner, is able to, on the one hand, make decisions about the next best scanner position and, on the other hand, navigate autonomously in the scene with the help of the data collected from earlier scans. After this stage, millions of 3D data are converted into a simplified 3D indoor model. The robot imposes a stopping criterion when the whole point cloud covers the essential parts of the scene. This system has been tested under real conditions indoors with promising results. The future is addressed to extend the method in much more complex and larger scenarios.

No MeSH data available.


Related in: MedlinePlus

Mobile robot navigation in a corridor. The internal map used by the robot in each cycle is shown.
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f8-sensors-15-11551: Mobile robot navigation in a corridor. The internal map used by the robot in each cycle is shown.

Mentions: The subsequent stages were already explained in Section 2. The scanner generates a new robot map M(t) and sets the robot's position on it. This information is transferred to the robot. Then, the newly-labeled voxel map V(t) is calculated; the scanner runs the NBV algorithm again and sends the new position to the robot. Figure 8 shows the evolution of the map that the robot manages during the automatic acquisition of a corridor. We considered that the surface of the scene was fully sensed after four scans.


Towards the automatic scanning of indoors with robots.

Adán A, Quintana B, Vázquez AS, Olivares A, Parra E, Prieto S - Sensors (Basel) (2015)

Mobile robot navigation in a corridor. The internal map used by the robot in each cycle is shown.
© Copyright Policy
Related In: Results  -  Collection

License
Show All Figures
getmorefigures.php?uid=PMC4481921&req=5

f8-sensors-15-11551: Mobile robot navigation in a corridor. The internal map used by the robot in each cycle is shown.
Mentions: The subsequent stages were already explained in Section 2. The scanner generates a new robot map M(t) and sets the robot's position on it. This information is transferred to the robot. Then, the newly-labeled voxel map V(t) is calculated; the scanner runs the NBV algorithm again and sends the new position to the robot. Figure 8 shows the evolution of the map that the robot manages during the automatic acquisition of a corridor. We considered that the surface of the scene was fully sensed after four scans.

Bottom Line: The document presents the principal steps of the process, the experimental setup and the results achieved.The robot imposes a stopping criterion when the whole point cloud covers the essential parts of the scene.The future is addressed to extend the method in much more complex and larger scenarios.

View Article: PubMed Central - PubMed

Affiliation: Visual Computing and Robotics Lab, Universidad de Castilla-La Mancha (UCLM), Paseo de la Universidad, 4, Ciudad Real 13071, Spain. Antonio.Adan@uclm.es.

ABSTRACT
This paper is framed in both 3D digitization and 3D data intelligent processing research fields. Our objective is focused on developing a set of techniques for the automatic creation of simple three-dimensional indoor models with mobile robots. The document presents the principal steps of the process, the experimental setup and the results achieved. We distinguish between the stages concerning intelligent data acquisition and 3D data processing. This paper is focused on the first stage. We show how the mobile robot, which carries a 3D scanner, is able to, on the one hand, make decisions about the next best scanner position and, on the other hand, navigate autonomously in the scene with the help of the data collected from earlier scans. After this stage, millions of 3D data are converted into a simplified 3D indoor model. The robot imposes a stopping criterion when the whole point cloud covers the essential parts of the scene. This system has been tested under real conditions indoors with promising results. The future is addressed to extend the method in much more complex and larger scenarios.

No MeSH data available.


Related in: MedlinePlus