Sensor-Fusion Based Real-Time 3D Outdoor Scene Reconstruction and Analysis on a Moving Mobile Outdoor Robot
| dc.contributor.author | Kuhnert, Lars | |
| dc.contributor.author | Kuhnert, Klaus-Dieter | |
| dc.date.accessioned | 2018-01-08T09:15:04Z | |
| dc.date.available | 2018-01-08T09:15:04Z | |
| dc.date.issued | 2011 | |
| dc.description.abstract | This article presents an overview over the whole process of generating a precise and rich 3D representation of the local environment of a moving mobile outdoor robot. The resulting model of this process is a camera image textured triangle mesh which is triangulated from a motion-corrected laser scanned 3D point cloud. The demanding requirements of autonomous off-road environment model acquisition are handled by applying a multi-sensor fusion approach. Additionally to the model creation process a novel way of detecting and describing feature points on a piece-wise linear 3D surfaces is presented. The set of feature points generated by the proposed method is a valuable abstraction of a whole outdoor scene that can be used in several following processing steps like mesh simplification or segmentation and robotics-specific tasks like obstacle detection or classification. All described methods are implemented and successfully used on the award-winning robot AMOR. | |
| dc.identifier.pissn | 1610-1987 | |
| dc.identifier.uri | https://dl.gi.de/handle/20.500.12116/11207 | |
| dc.publisher | Springer | |
| dc.relation.ispartof | KI - Künstliche Intelligenz: Vol. 25, No. 2 | |
| dc.relation.ispartofseries | KI - Künstliche Intelligenz | |
| dc.subject | 3D outdoor scene reconstruction | |
| dc.subject | Multi-sensor fusion | |
| dc.subject | Triangle mesh analysis | |
| dc.subject | Triangle mesh texturing | |
| dc.title | Sensor-Fusion Based Real-Time 3D Outdoor Scene Reconstruction and Analysis on a Moving Mobile Outdoor Robot | |
| dc.type | Text/Journal Article | |
| gi.citation.endPage | 123 | |
| gi.citation.startPage | 117 |