Human supervisory approach to modeling industrial scenes using geometric primitives Metadata

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  • Main Title Human supervisory approach to modeling industrial scenes using geometric primitives


  • Author: Luck, J.P.
    Creator Type: Personal
  • Author: Little, C.Q.
    Creator Type: Personal
  • Author: Roberts, R.S.
    Creator Type: Personal


  • Sponsor: United States. Department of Energy.
    Contributor Type: Organization
    Contributor Info: USDOE, Washington, DC (United States)


  • Name: Lawrence Livermore National Laboratory
    Place of Publication: California
    Additional Info: Lawrence Livermore National Lab., CA (United States)


  • Creation: 1997-11-19


  • English


  • Content Description: A three-dimensional world model is crucial for many robotic tasks. Modeling techniques tend to be either fully manual or autonomous. Manual methods are extremely time consuming but also highly accurate and flexible. Autonomous techniques are fast but inflexible and, with real-world data, often inaccurate. The method presented in this paper combines the two, yielding a highly efficient, flexible, and accurate mapping tool. The segmentation and modeling algorithms that compose the method are specifically designed for industrial environments, and are described in detail. A mapping system based on these algorithms has been designed. It enables a human supervisor to quickly construct a fully defined world model from unfiltered and unsegmented real-world range imagery. Examples of how industrial scenes are modeled with the mapping system are provided.
  • Physical Description: 9 p.


  • STI Subject Categories: 99 Mathematics, Computers, Information Science, Management, Law, Miscellaneous
  • Keyword: Trajectories
  • Keyword: Robots
  • STI Subject Categories: 32 Energy Conservation, Consumption, And Utilization
  • Keyword: Algorithms
  • Keyword: Geometry
  • Keyword: Three-Dimensional Calculations


  • Conference: 1998 IEEE international conference on robotics and automation, Leuven (Belgium), 16-21 May 1998


  • Name: Office of Scientific & Technical Information Technical Reports
    Code: OSTI


  • Name: UNT Libraries Government Documents Department
    Code: UNTGD

Resource Type

  • Article


  • Text


  • Other: DE98052169
  • Report No.: UCRL-JC--128921
  • Report No.: CONF-980537--
  • Grant Number: W-7405-ENG-48
  • Office of Scientific & Technical Information Report Number: 647034
  • Archival Resource Key: ark:/67531/metadc709270


  • Display Note: OSTI as DE98052169
  • Display Note: Other: FDE: PDF; PL: