Building a space occupancy model for a power-line maintenance robot using a range data sensor

Alain Croteau; Denis Laurendeau; Jean Lessard

doi:10.1117/12.57107

1 February 1992 Building a space occupancy model for a power-line maintenance robot using a range data sensor

Alain Croteau, Denis Laurendeau, Jean Lessard

Proceedings Volume 1607, Intelligent Robots and Computer Vision X: Algorithms and Techniques; (1992) https://doi.org/10.1117/12.57107
Event: Robotics '91, 1991, Boston, MA, United States

Abstract

A telerobotic system for power-line maintenance is equipped with a laser range-finder allowing it to perform an estimation of its workspace occupancy. This paper describes the model used for describing space occupancy and the 3-D computer vision method developed for extracting this information. It consists in building an octree of the scene from several range images taken from various points of view. A calibration is performed using the first image in order to find the initial position of the camera relative to the scene. Successive 3-D images are used to complete the model information until a satisfying knowledge of the space occupancy is reached.

Citation Download Citation

Alain Croteau, Denis Laurendeau, and Jean Lessard "Building a space occupancy model for a power-line maintenance robot using a range data sensor", Proc. SPIE 1607, Intelligent Robots and Computer Vision X: Algorithms and Techniques, (1 February 1992); https://doi.org/10.1117/12.57107

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