Data Acquiring Support System Using Recommendation Degree Map for 3D Outdoor Modeling

نویسندگان

  • Toshihiro ASAI
  • Masayuki KANBARA
  • Naokazu YOKOYA
چکیده

We propose a support system of range data acquisition by a laser rangefinder for wide area outdoor modeling in order to reduce un-observed portions of generated model. The system presents the operator a recommendation degree map which illustrates recommendation position of acquisition of range data in the objective area. The operator decides a next acquisition position in consideration of movement distance of sensor system and recommendation degrees of the map. The recommendation degree is computed by measurement density as the index. The recommendation degree at a position is given by the difference between measurement density acquired by rangefinder and measurement density estimated by the system in reachable area of the laser beams. The reachable area of the laser beams is estimated by using a 3D model generated from the acquired range data. The system computes the measurement density by the reachable area of the laser beams. The recommendation degrees in the objective area are computed by the model generated from range data whenever a range data is acquired. Moreover, the system judges whether overlapping portions of the range data can be acquired for the registration by ICP algorithm from a work area which the sensor system can enter.

برای دانلود رایگان متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Uncertainty Modeling of a Group Tourism Recommendation System Based on Pearson Similarity Criteria, Bayesian Network and Self-Organizing Map Clustering Algorithm

Group tourism is one of the most important tasks in tourist recommender systems. These systems, despite of the potential contradictions among the group's tastes, seek to provide joint suggestions to all members of the group, and propose recommendations that would allow the satisfaction of a group of users rather than individual user satisfaction. Another issue that has received less attention i...

متن کامل

O1: Modeling of Mesenchymal Stem Cell-Derived Magnetite Nanoparticles for The Rehabilitation of Immune System Function and Reducing Inflammation and Promoting Myelination in the Treatment of MS Disease

By Using the modeling of the mesenchymal (bone marrow) stem cell nanoparticles, the reinstatement of the immune system leads to the treatment of MS, result in the formation of a new immune system for the body by stem cell. The presence of stem cells promotes and strengthens myelination, and that, using simulation and 3D modeling, stem cells can be transmitted correctly to the target and place o...

متن کامل

3d Modeling of Outdoor Scenes by Integrating Stop-and-go and Continuous Scanning of Rangefinder

This paper describes a 3D modeling method for wide outdoor environments by integrating stop-and-go and continuous scanning of laser rangefinder. First, range images of an outdoor scene are measured by stop-and-go scanning by using omnidirectional laser rangefinder, and the 3D surface model is generated. Next, to recover the parts that are not measured in the stop-and-go scanning mode due to occ...

متن کامل

2D localization of outdoor mobile robots using 3D laser range data

Robot localization in outdoor environments is a challenging problem because of unstructured terrains. Ladars that are not horizontally attached have benefits for detecting obstacles but are not suitable for some localization algorithms used for indoor robots, which have horizontally fixed ladars. The data obtained from tilted ladars are 3D while these from non-tilted ladars are 2D. We present a...

متن کامل

Terrestrial LiDAR Capabilities for 3D Data Acquisition (Indoor and Outdoor) in the Context of Cadastral Modelling: A Comparative Analysis for Apartment Units

The paper presents a comparison of terrestrial LiDAR and Distancemeter for surveying 3D spatial data of property units (indoor and outdoor) and producing cadastral representations (2D and 3D). Two study sites representing apartment buildings (co-ownership units) were surveyed with both instruments and six criteria related to data acquisition steps (survey time, number of measures, number of ope...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

عنوان ژورنال:

دوره   شماره 

صفحات  -

تاریخ انتشار 2007