For the construction of 3-D shape models of large-scale architectural structures using laser range finders, a number of range images are taken from different viewpoints around the targets. Next, the obtained images are normally aligned by post-processing procedures, such as the ICP algorithm. However, to obtain convergent results in the ICP algorithm and align these range images to their proper positions, the initial position of each range image needs to be manually aligned to roughly the correct position. This paper proposes a new measurement and modeling system using a group of multiple robots and an on-board laser range finder. Each measurement position is identified by a highly precise positioning technique called the Co-operative Positioning System (CPS), which utilizes the characteristics of the multiple-robot system. Therefore, the proposed system can construct 3-D shapes of large-scale architectural struc-Y. Tobata ( ) LinX Corporation, 1-13-11, Eda-nishi, tures without any post-processing procedure or manual intervention. In addition, it is possible to register range images even if the number of measurements is few and there are only a few range images, for example, due to range images containing insufficient feature shapes or overlapping regions. Measurement experiments in unknown and large indoor/outdoor environments including a large hall, a building, an urban district, and a cultural heritage have been successfully carried out using the newly developed measurement system consisting of three mobile robots named CPS-V. Path generation experiments of the mobile robots based on the partially measured 3-D model are also presented.
In order to construct three dimensional shape models of large scale architectures by a laser range finder, a number of range images are normally taken from various viewpoints and these images are aligned using post-processing procedure such as ICP algorithm. However in general, before applying ICP algorithm, these range images have to be registered to correct positions roughly by a human operator in order to converge to precise positions. In addition, range images must be overlapped sufficiently each other by taking dense images from close viewpoints. On the other hand, if poses of the laser range finder at viewpoints can be identified precisely, local range images can be converted to the world coordinate system directly with simple transformation calculation. This paper proposes a new measurement system for large scale architectures using a group of multiple robots and an on-board laser range finder. Each measurement position is identified by the highly precise positioning technique named Cooperative Positioning System or CPS which utilizes the characteristics of multiple robots system. The proposed system can construct 3D shapes of large scale architectures without any post-processing procedure such as ICP algorithm and dense range measurements. The measurement experiments in unknown and large indoor/outdoor environments are successfully carried out using the newly developed measurement system consisting of three mobile robots named CPS-V.
Abstract-In order to construct three-dimensional shape models of large-scale architectural structures using a laser range finder, a number of range images are taken from various viewpoints. These images are aligned using post-processing procedures such as the ICP algorithm. However, in general, before applying the ICP algorithm, these range images must be aligned roughly by a human operator in order to converge to precise positions. The present paper proposes a new modeling system using a group of multiple robots and an on-board laser range finder. Each measurement position is identified by a highly precise positioning technique called Cooperative Positioning System (CPS), which utilizes the characteristics of the multiple-robot system. Thus, the proposed system can construct 3D shapes of large-scale architectural structures without any post-processing procedure or manual registration. ICP is applied optionally for a subsequent refinement of the model. Measurement experiments in unknown and large indoor/outdoor environments are carried out successfully using the newly developed measurement system consisting of three mobile robots named CPS-V. Generating a model of Dazaifu Tenmangu, a famous cultural heritage, for its digital archive completes the paper.
In order to construct three-dimensional shape models of large-scale architectural structures using a laser range finder, a number of range images are normally taken from various viewpoints, and these images are aligned using post-processing procedures such as the ICP algorithm. However, in general, before applying the ICP algorithm, these range images must be registered to roughly correct positions by a human operator in order to converge to precise positions. In addition, range images must be made to sufficiently overlap each other by taking dense images from close viewpoints. On the other hand, if the positions of the laser range finder at viewpoints can be identified precisely, local range images can be directly converted to the global coordinate system through a simple transformation calculation. The present paper proposes a new measurement system for large-scale architectural structures using a group of multiple robots and an on-board laser range finder. Each measurement position is identified by a highly precise positioning technique called Cooperative Positioning System (CPS), which utilizes the characteristics of the multiple-robot system. The proposed system can construct 3D shapes of large-scale architectural structures without any post-processing procedure such as the ICP algorithm or dense range measurements. Measurement experiments in unknown and large indoor/outdoor environments are successfully carried out using the newly developed measurement system consisting of three mobile robots named CPS-V.
This paper presents an automatic 3-D laser measurement system of an environmental structure using the cooperation of multiple mobile robots. The robots are equipped with two types of laser sensors and measure the 3D environmental structure while moving around the environment automatically. To identify the measurement positions by the robots, Cooperative Positioning System (CPS) is utilized which is a highly precise positioning technique of co-operative multiple robots. Since the positions of the robots for 3D laser scanning are identified precisely, the 3D environmental model can be constructed without any post-processing procedure such as the ICP algorithm or manual intervention. Therefore, a fully automatic 3-D measurement system of the environmental model can be realized. This paper presents the manual and automatic planning experiments of measurement procedure using the partially measured structure of the environment. Planning and measurement experiments by three mobile robots are successfully carried out.
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