3D laser measurement system for large scale architectures using multiple mobile robots
3D laser measurement system for large scale architectures using multiple mobile robots
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DOI：
10.1109/3dim.2007.2
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发表时间：
2007-08
期刊：
影响因子：
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通讯作者：
R. Kurazume;Yukihiro Tobata;Y. Iwashita;T. Hasegawa
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文献类型：
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作者：
R. Kurazume;Yukihiro Tobata;Y. Iwashita;T. Hasegawa
为了通过激光测距仪构建大型建筑的三维形状模型，通常从不同的视点拍摄许多距离图像，并使用诸如ICP算法等后处理程序来对齐这些图像。然而一般来说，在应用ICP算法之前，这些距离图像必须由操作员粗略地配准到正确的位置，以便收敛到精确的位置。此外，通过从近距离视点拍摄密集图像，距离图像必须彼此充分重叠。另一方面，如果能够精确识别激光测距仪在视点的位姿，则可以通过简单的变换计算将局部距离图像直接转换到世界坐标系。本文提出了一种使用一组多个机器人和机载激光测距仪的大型建筑的新测量系统。每个测量位置都通过高精度定位技术（称为协作定位系统或CPS）来识别，该技术利用了多机器人系统的特性。所提出的系统可以构建大规模架构的 3D 形状，而无需任何后处理程序（例如 ICP 算法和密集范围测量）。利用新开发的由三台移动机器人组成的CPS-V测量系统，成功开展了未知的大型室内外环境的测量实验。
In order to construct three dimensional shape models of large scale architectures by a laser range finder, a number of range images are normally taken from various viewpoints and these images are aligned using post-processing procedure such as ICP algorithm. However in general, before applying ICP algorithm, these range images have to be registered to correct positions roughly by a human operator in order to converge to precise positions. In addition, range images must be overlapped sufficiently each other by taking dense images from close viewpoints. On the other hand, if poses of the laser range finder at viewpoints can be identified precisely, local range images can be converted to the world coordinate system directly with simple transformation calculation. This paper proposes a new measurement system for large scale architectures using a group of multiple robots and an on-board laser range finder. Each measurement position is identified by the highly precise positioning technique named cooperative positioning system or CPS which utilizes the characteristics of multiple robots system. The proposed system can construct 3D shapes of large scale architectures without any post-processing procedure such as ICP algorithm and dense range measurements. The measurement experiments in unknown and large indoor/outdoor environments are successfully carried out using the newly developed measurement system consisting of three mobile robots named CPS-V.