A human supervisory approach to rapid world modeling through the use of geometric primitives

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Description

A three-dimensional world model is crucial for many robot-oriented tasks. The most efficient mapping configuration use geometric primitives to model environments, and are easy to store and process. In the past, modeling techniques have been either fully manual or autonomous. Manual methods are extremely time consuming but also highly accurate and flexible. On the other hand autonomous techniques are fast but inflexible and often inaccurate. The method presented in this paper combines the two thereby yielding a highly efficient, flexible, and accurate tool. Our methods enable a human supervisor to quickly construct a fully defined world model from unfiltered and ... continued below

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15 p.

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Luck, J. & Roberts, R. August 11, 1997.

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Description

A three-dimensional world model is crucial for many robot-oriented tasks. The most efficient mapping configuration use geometric primitives to model environments, and are easy to store and process. In the past, modeling techniques have been either fully manual or autonomous. Manual methods are extremely time consuming but also highly accurate and flexible. On the other hand autonomous techniques are fast but inflexible and often inaccurate. The method presented in this paper combines the two thereby yielding a highly efficient, flexible, and accurate tool. Our methods enable a human supervisor to quickly construct a fully defined world model from unfiltered and unsegmented real-world range data.

Physical Description

15 p.

Notes

OSTI as DE98001497

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  • Other Information: PBD: 11 Aug 1997

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  • Other: DE98001497
  • Report No.: LA-UR--97-3344
  • Grant Number: W-7405-ENG-36
  • DOI: 10.2172/563830 | External Link
  • Office of Scientific & Technical Information Report Number: 563830
  • Archival Resource Key: ark:/67531/metadc697708

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  • August 11, 1997

Added to The UNT Digital Library

  • Aug. 14, 2015, 8:43 a.m.

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  • May 23, 2016, 1:29 p.m.

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Luck, J. & Roberts, R. A human supervisory approach to rapid world modeling through the use of geometric primitives, report, August 11, 1997; New Mexico. (digital.library.unt.edu/ark:/67531/metadc697708/: accessed October 23, 2018), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.