Automated Construction of Environment Models by a Mobile Robot
THESIS PROPOSAL
Automated Construction of Environment Models by a Mobile Robot
Paul Blaer
Computer Science Department, Columbia University
December 9, 2004
Contents
1 Introduction
1
2 Related Work
3
2.1
Model Based Methods . . . . . . . . . . . . . . . . . . . . . . . . . .
4
2.2
Non-Model Based Methods . . . . . . . . . . . . . . . . . . . . . . . .
5
2.2.1
Volumetric Methods . . . . . . . . . . . . . . . . . . . . . . .
5
2.2.2
Surface-Based Methods . . . . . . . . . . . . . . . . . . . . . .
6
View Planning for Mobile Robots . . . . . . . . . . . . . . . . . . . .
7
2.3
3 Overview of Our Method
4 Initial Modeling Stage
8
11
4.1
Planning the Initial Views . . . . . . . . . . . . . . . . . . . . . . . .
11
4.2
Moving to the Chosen Scanning Locations . . . . . . . . . . . . . . .
18
4.2.1
Path Planning . . . . . . . . . . . . . . . . . . . . . . . . . . .
18
4.2.2
Computing the Generalized Voronoi Diagram . . . . . . . . .
19
4.2.3
Computing the Path . . . . . . . . . . . . . . . . . . . . . . .
22
4.2.4
Localization and Navigation . . . . . . . . . . . . . . . . . . .
23
Scan Acquisition and Integration . . . . . . . . . . . . . . . . . . . .
24
4.3
5 Final Modeling Phase
25
6 Road Map to the Thesis
31
1
1
Introduction
Accurate three-dimensional models of large outdoor structures, such as buildings and their surroundings, have many uses. They can provide an educational walk around a structure that is thousands of miles away. These models can allow engineers to analyze the stability of a structure and then test possible corrections without endangering the original. They allow us to preserve historical sites that are in danger of destruction, and they allow us to preserve archaeological sites at various stages of an excavation.
Construction of such models is particularly useful when the original
Automated Construction of Environment Models by a Mobile Robot
Paul Blaer
Computer Science Department, Columbia University
December 9, 2004
Contents
1 Introduction
1
2 Related Work
3
2.1
Model Based Methods . . . . . . . . . . . . . . . . . . . . . . . . . .
4
2.2
Non-Model Based Methods . . . . . . . . . . . . . . . . . . . . . . . .
5
2.2.1
Volumetric Methods . . . . . . . . . . . . . . . . . . . . . . .
5
2.2.2
Surface-Based Methods . . . . . . . . . . . . . . . . . . . . . .
6
View Planning for Mobile Robots . . . . . . . . . . . . . . . . . . . .
7
2.3
3 Overview of Our Method
4 Initial Modeling Stage
8
11
4.1
Planning the Initial Views . . . . . . . . . . . . . . . . . . . . . . . .
11
4.2
Moving to the Chosen Scanning Locations . . . . . . . . . . . . . . .
18
4.2.1
Path Planning . . . . . . . . . . . . . . . . . . . . . . . . . . .
18
4.2.2
Computing the Generalized Voronoi Diagram . . . . . . . . .
19
4.2.3
Computing the Path . . . . . . . . . . . . . . . . . . . . . . .
22
4.2.4
Localization and Navigation . . . . . . . . . . . . . . . . . . .
23
Scan Acquisition and Integration . . . . . . . . . . . . . . . . . . . .
24
4.3
5 Final Modeling Phase
25
6 Road Map to the Thesis
31
1
1
Introduction
Accurate three-dimensional models of large outdoor structures, such as buildings and their surroundings, have many uses. They can provide an educational walk around a structure that is thousands of miles away. These models can allow engineers to analyze the stability of a structure and then test possible corrections without endangering the original. They allow us to preserve historical sites that are in danger of destruction, and they allow us to preserve archaeological sites at various stages of an excavation.
Construction of such models is particularly useful when the original
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