CISE Research Instrumentaion: Acquisition of a Mobile Robot Scanning System

9729844艾伦，彼得哥伦比亚大学 CISE研究仪器：收购移动的机器人扫描系统 这项研究仪器赠款有助于购买一个移动的机器人扫描系统，包括一个户外，自主机器人车辆与大的有效载荷和车载厘米分辨率的全球定位系统的车辆的准确位置。该仪器将使以下项目：-自动三维网站建模，-自动视觉导航，-物理和虚拟视图的集成，以及-大规模对象和路径的最佳表示和口头描述。 购置的移动的扫描设备将有助于建立高度精确的三维场地模型，其中包括现场的几何和光度特性。 这项研究需要一个移动的基础机器人，一个精确的GPS定位系统，以及二维和三维成像传感器。首先，通过使用移动的底座来获取图像来构建模型，并且新的范围扫描网格挤出算法将创建体积模型。还将开发传感器规划算法，以确定机器人可以导航的区域，以通过进一步传感完成部分构建的模型。 第二，机器人将配备全向摄像机，可用于从运动场景恢复结构和模型配准研究。第三，该系统将用于研究变化检测和模型进化的现有模型的环境。GPS系统可以为这些算法的准确性提供地面实况，并允许与现有的低精度人体安装系统进行交互以进行跟踪。 第四，通过一个环境，系统将被用作“向导”。 它可以把导航和环境 以口头/手势形式提出疑问，并提出有关物体的调查结果 自然语言中的场景感兴趣。

9729844 Allen, Peter Columbia University CISE Research Instrumentation: Acquisition of a Mobile Robot Scanning System This research instrumentation grant contributes to the purchase of a mobile robot scanning system, comprised of a an outdoor, autonomous robot vehicle with a large payload and an on-board centimeter resolution Global Positioning System for accurate location of the vehicle. The instrumentation will enable the following projects:- Automatic 3-D Site Modeling,- Automated Visual Navigation,- Integration of Physical and Virtual Views, and- Optimal Representation and Verbal Description of Large Scale Objects and Path. The mobile scanning equipment acquired will contribute to develop highly accurate 3-D site models that encompass geometric and photometric properties of the scene. There are 4 aspects to this research which require a mobile base robot, an accurate GPS location system, and 2-D and 3-D imaging sensors. First, the models will be built by using the mobile base to acquire images and a new range scan mesh extrusion algorithm will create volumetric models. Sensor planning algorithms will also be developed to determine regions where the robot can navigate to complete a partially built model by further sensing. Second, the robot will be equipped with omnidirectional cameras which can be used for structure-from-motion scene recovery, and model registration research. Third, the system will be used for research on change detection and model evolution on existing models of the environment. The GPS system can provide ground truth for the accuracy of these algorithms, and allow interaction with an existing low-precision human-mounted system for tracking. Fourth, the system will be used as a "guide" through an environment. It can take navigational and environmental queries in verbal/gestural form, and present its findings about the objects of interest in the scene in natural language.