Anzeige
Erschienen in:
2012 | OriginalPaper | Buchkapitel
3D Environment Modeling with Hybrid of Laser Range Finder and Range Camera
verfasst von : Chenglu Wen, Ling Qin, Siyuan Lin, Qingyuan Zhu
Erschienen in: Advances in Future Computer and Control Systems
Verlag: Springer Berlin Heidelberg
Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.
Wählen Sie Textabschnitte aus um mit Künstlicher Intelligenz passenden Patente zu finden. powered by
Markieren Sie Textabschnitte, um KI-gestützt weitere passende Inhalte zu finden. powered by
3D environment modeling achievement gives important reference for mobile robot navigation and dangerous situation searching. In this paper, we present a method that acquire 3D model for indoor environment with hybrid of laser range finder and range camera. 3D laser point cloud can be obtained by the coordinate work between the 2D laser range finder and a pan-tilt. RGB along with depth information can be provided by range camera for every pixel, which provides fast matching for the registration between the laser and pixel point cloud, and finally achieves accurate 3D model for the environment with RGB and exact depth information. We evaluated our method on indoor scenes with different contents, and the results shown the effectiveness of the method to provide fast and accurate model for indoor environment with vision and depth information.