A System for Semi-Automatic Modeling of Complex Environments
نویسندگان
چکیده
We present a perception system, called Artisan, that semi-automatically builds 3-D models of a robot’s workspace. Range images are acquired with a scanning laser rangefinder and then processed, based on a systematic sensor characterization, to remove noise and artifacts. Complex 3-D objects represented as surface meshes are subsequently recognized in the range images and inserted into a virtual workspace. This graphical virtual workspace is then used to by human operators to plan and execute remote robotic operations.
منابع مشابه
Automatic Generation of a Multi Agent System for Crisis Management by a Model Driven Approach
Considering the increasing occurrences of unexpected events and the need for pre-crisis planning in order to reduce risks and losses, modeling instant response environments is needed more than ever. Modeling may lead to more careful planning for crisis-response operations, such as team formation, task assignment, and doing the task by teams. A common challenge in this way is that the model shou...
متن کاملProcedural Modeling as an Analytical Tool for 3D Survey in Urban Design Assessment
This paper examines procedural modeling as a tool for 3D modeling creation. Procedural modeling historically has been used for 3D visualization of natural features, but with the release of the software CityEngine in 2008, the technology can easily be adopted also in problem domains dealing with urban environments. Then, we will examine and compare two types of modeling, traditional and proc...
متن کاملDEM-based analysis of morphometric features in humid and hyper-arid environments using artificial neural network
Abstract This paper presents a robust approach using artificial neural networks in the form of a Self Organizing Map (SOM) as a semi-automatic method for analysis and identification of morphometric features in two completely different environments, the Man and Biosphere Reserve “Eastern Carpathians” (Central Europe) in a complex mountainous humid area and Yardangs in Lut Desert, Iran, a hyper...
متن کاملA Semi-Automatic Algorithm for Estimating Cobb Angle
Background: Scoliosis is the most common type of spinal deformity. A universal and standard method for evaluating scoliosis is Cobb angle measurement, but several studies have shown that there is intra- and inter- observer variation in measuring cobb angle manually.Objective: Develop a computer- assisted system to decrease operator-dependent errors in Cobb angle measurement.Methods: The spinal ...
متن کاملModeling of Fault Co-seismic Displacement Fields in Elastic Environments Based on Spherical Dislocation Theory
This research is based on the modeling of co-seismic deformations due to the fault movement in the elastic environments, and we can obtain the deformations generated in the faults. Here, modeling of the co-seismic displacement field is based on the analytical method with two spherical dislocation model and half-space dislocation model. The difference in displacement field from two spherical and...
متن کامل