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Annual Conference on Artificial Intelligence

KI 2003: KI 2003: Advances in Artificial Intelligence pp 550–564Cite as

Consistent 3D Model Construction with Autonomous Mobile Robots

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 2821))

Abstract

Digital 3D models of the environment are needed in facility management, architecture, rescue and inspection robotics. To create 3D volumetric models of scenes, rooms or buildings, it is necessary to gage several 3D scans and to merge them into one consistent 3D model. This paper presents a system, composed of a fast and robust, autonomous mobile robot, a precise, cost effective, high quality 3D laser scanner, and reliable scan matching algorithms for measuring and reconstructing environments, capable of matching two 3D scans within a fraction of a second.

The proposed new software modules for scan matching are fast variants of the iterative closest point algorithm (ICP) for consistent alignment. Two applications are presented: First, the reconstruction of an office environment, second, the fitting of sewer pipes into 3D data to detect deviations from the spatial geometry.

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Author information

Authors and Affiliations

  1. Fraunhofer Institute for Autonomous Intelligent Systems (AIS), Schloss Birlinghoven, D-53754, Sankt Augustin, Germany

    Andreas Nüchter, Hartmut Surmann, Kai Lingemann & Joachim Hertzberg

Authors
  1. Andreas Nüchter
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  2. Hartmut Surmann
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  3. Kai Lingemann
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  4. Joachim Hertzberg
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Editor information

Editors and Affiliations

  1. HITeC e. V. Universität Hamburg Fachbereich Informatik, Vogt-Kölln-Str. 30, 22527, Hamburg, Germany

    Andreas Günter

  2. Otto-von-Guericke-University of Magdeburg,  

    Rudolf Kruse

  3. Cognitive Systems Laboratory, Department Informatik, Universität Hamburg, 22527, Hamburg, Germany

    Bernd Neumann

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© 2003 Springer-Verlag Berlin Heidelberg

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Nüchter, A., Surmann, H., Lingemann, K., Hertzberg, J. (2003). Consistent 3D Model Construction with Autonomous Mobile Robots. In: Günter, A., Kruse, R., Neumann, B. (eds) KI 2003: Advances in Artificial Intelligence. KI 2003. Lecture Notes in Computer Science(), vol 2821. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-39451-8_40

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  • DOI: https://doi.org/10.1007/978-3-540-39451-8_40

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-20059-8

  • Online ISBN: 978-3-540-39451-8

  • eBook Packages: Springer Book Archive

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