3-D map reconstruction from range data

Daniel Huber, Owen Carmichael, Martial Hebert

Research output: Chapter in Book/Report/Conference proceedingConference contribution

49 Scopus citations

Abstract

We present techniques for building models of complex environments from range data gathered at multiple viewpoints. The challenges in this problem are the matching of unregistered views without prior knowledge of pose, the use of very large data sets, and the manipulation of data sets of different resolutions and from different sensors. Our approach is unique in that no prior knowledge of the relative viewpoints is needed in order to register the data. We show results in building maps of interior environment from range finder data, building large terrain maps from ground-based and from aerial data, and from an operational for mapping from stereo data for hazardous environment characterization. The paper summarizes the major results obtained so far in this area. Details of the algorithms can be found in earlier papers as referenced in the text.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages891-897
Number of pages7
Volume1
StatePublished - 2000
Externally publishedYes
EventICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA
Duration: Apr 24 2000Apr 28 2000

Other

OtherICRA 2000: IEEE International Conference on Robotics and Automation
CitySan Francisco, CA, USA
Period4/24/004/28/00

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

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    Huber, D., Carmichael, O., & Hebert, M. (2000). 3-D map reconstruction from range data. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 1, pp. 891-897)