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首页> 外文会议>3-D Digital Imaging and Modeling, 2007 6th International Conference on >3D laser measurement system for large scale architectures using multiple mobile robots
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3D laser measurement system for large scale architectures using multiple mobile robots

机译：使用多个移动机器人的大规模体系结构3D激光测量系统

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摘要

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.
机译：为了通过激光测距仪构建大规模架构的三维形状模型，通常会从各种角度拍摄许多距离图像，并使用ICP算法等后处理程序将这些图像对齐。但是，通常，在应用ICP算法之前，这些距离图像必须由操作员粗略地记录以校正位置，以便收敛到精确位置。另外，通过从近视点拍摄密集图像，范围图像必须彼此充分重叠。另一方面，如果可以精确识别激光测距仪在视点上的姿势，则可以通过简单的转换计算将局部距离图像直接转换为世界坐标系。本文提出了一种新的大型系统测量系统，该系统使用一组多个机器人和一个车载激光测距仪。每个测量位置均通过称为合作定位系统或CPS的高精度定位技术进行识别，该技术利用了多个机器人系统的特性。所提出的系统可以构建大规模架构的3D形状，而无需任何后处理程序，例如ICP算法和密集范围测量。使用新开发的由三个名为CPS-V的移动机器人组成的测量系统，成功地在未知和大型室内/室外环境中进行了测量实验。

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