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PAPER: Learning Compact 3D Models of Indoor and Outdoor Environments with a Mobile Robot

By Dirk Haehnel, Wolfram Burgard, and Sebastian Thrun.

This paper presents an algorithm for full 3D shape reconstruction of indoor and outdoor environments with mobile robots. Data is acquired by a fast-moving robot equipped with two 2D laser range finders. Our approach combines an efficient scan matching routine for robot pose estimation with an algorithm for approximating environments using flat surfaces. On top of that, our approach includes a mesh simplification technique to reduce the complexity of the resulting models. In extensive experiments, our method is shown to produce accurate models of indoor and outdoor environments that compare favorably to other methods.

Available for download in

@ARTICLE{Haehnel02b,
  author         =       {H\"{a}hnel, D. and Burgard, W. and Thrun, S.},
  title          =        {Learning Compact 3{D} Models of Indoor and 
                    Outdoor Environments with a Mobile Robot},
  journal        =      {Robotics and Autonomous Systems},
  year           =         2002,
  NOTE           =         {to appear}
}