A System for Semi-Automatic Modeling of Complex Environments

We present a perception system, called Artisan, that semi-automatically builds 3-D models of a robot’s workspace. Range images are acquired with a scanning laser rangefinder and then processed, based on a systematic sensor characterization, to remove noise and artifacts. Complex 3-D objects represented as surface meshes are subsequently recognized in the range images and inserted into a virtual workspace. This graphical virtual workspace is then used to by human operators to plan and execute remote robotic operations.

• Type: Conference
• Year: 1997
• Where: 3DIM
• Authors: Andrew Edie Johnson, Regis Hoffman, Jim Osborn, Martial Hebert
• Keywords: 3DIM 1997, Graphical Virtual Workspace, Image Processing, Robot’s Workspace, Virtual Workspace