journal contribution
posted on 1997-01-01, 00:00 authored by Andrew E. Johnson, Regis Hoffman, Jim Osborn, Martial Hebert We present a perception system, called Artisan, that
semi-automatically builds 3-D models of a robot’s
workspace. Range images are acquired with a scanning
laser rangefinder and then processed, based on a systematic
sensor characterization, to remove noise and artifacts.
Complex 3-D objects represented as surface meshes are
subsequently recognized in the range images and inserted
into a virtual workspace. This graphical virtual workspace
is then used to by human operators to plan and execute
remote robotic operations.
History
Publisher Statement
"©1997 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE."
"This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder."Date
1997-01-01