제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Role of the Observation Planning in Three-dimensional Environment for Autonomous Reconstruction

  • Moon, Jung-Hyun (Intelligent Robotics Research Center, Korea Institute of Science and Technology(KIST),Department of Electrical and Electronic Engineering, Yonsei University) ;
  • You, Bum-Jae (Intelligent Robotics Research Center, Korea Institute of Science and Technology(KIST)) ;
  • Kim, Hag-Bae (Department of Electrical and Electronic Engineering, Yonsei University) ;
  • Oh, Sang-Rok (Intelligent Robotics Research Center, Korea Institute of Science and Technology(KIST))
  • Published : 2005.06.02
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Abstract

This paper presents an autonomous system for reconstruction of three-dimensional indoor environments using a mobile robot. The system is composed of a mobile robot, a three-dimensional scanning system, and a notebook computer for registration, observation planning and real-time three-dimensional data transferring. Three-dimensional scanning system obtains three-dimensional environmental data and performs filtering of dynamic objects. Then, it registers multiple three-dimensional scans into one coordinate system and performs observation planning which finds the next scanning position by using the layered hexahedral-map and topological-map. Then, the mobile robot moves to the next scanning position, and repeats all procedures until there is no scanning tree in topological-map. In concurrence with data scanning, three-dimensional data can be transferred through wireless-LAN in real-time. This system is experimented successfully by using a mobile robot named KARA.

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