An interactive system for creating object models from range data based on simulated annealing

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In hazardous applications such as remediation of buried waste and dismantlement of radioactive facilities, robots are an attractive solution. Sensing to recognize and locate objects is a critical need for robotic operations in unstructured environments. An accurate 3-D model of objects in the scene is necessary for efficient high level control of robots. Drawing upon concepts from supervisory control, the authors have developed an interactive system for creating object models from range data, based on simulated annealing. Site modeling is a task that is typically performed using purely manual or autonomous techniques, each of which has inherent strengths and weaknesses. ... continued below

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7 p.

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Hoff, W.A.; Hood, F.W. & King, R.H. May 1, 1997.

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In hazardous applications such as remediation of buried waste and dismantlement of radioactive facilities, robots are an attractive solution. Sensing to recognize and locate objects is a critical need for robotic operations in unstructured environments. An accurate 3-D model of objects in the scene is necessary for efficient high level control of robots. Drawing upon concepts from supervisory control, the authors have developed an interactive system for creating object models from range data, based on simulated annealing. Site modeling is a task that is typically performed using purely manual or autonomous techniques, each of which has inherent strengths and weaknesses. However, an interactive modeling system combines the advantages of both manual and autonomous methods, to create a system that has high operator productivity as well as high flexibility and robustness. The system is unique in that it can work with very sparse range data, tolerate occlusions, and tolerate cluttered scenes. The authors have performed an informal evaluation with four operators on 16 different scenes, and have shown that the interactive system is superior to either manual or automatic methods in terms of task time and accuracy.

Physical Description

7 p.

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INIS; OSTI as DE97052135

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  • 1997 international conference on robotics and automation, Albuquerque, NM (United States), 20-25 Apr 1997

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  • Other: DE97052135
  • Report No.: INEL/CON--97-00010
  • Report No.: CONF-970469--17
  • Grant Number: AC07-94ID13223
  • Office of Scientific & Technical Information Report Number: 495686
  • Archival Resource Key: ark:/67531/metadc675432

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  • May 1, 1997

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  • July 25, 2015, 2:21 a.m.

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  • Feb. 25, 2016, 11:52 a.m.

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Hoff, W.A.; Hood, F.W. & King, R.H. An interactive system for creating object models from range data based on simulated annealing, article, May 1, 1997; Idaho Falls, Idaho. (digital.library.unt.edu/ark:/67531/metadc675432/: accessed October 15, 2018), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.