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Proceedings Paper

Building a space occupancy model for a power-line maintenance robot using a range data sensor
Author(s): Alain Croteau; Denis Laurendeau; Jean Lessard
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Paper 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.

Paper Details

Date Published: 1 February 1992
PDF: 6 pages
Proc. SPIE 1607, Intelligent Robots and Computer Vision X: Algorithms and Techniques, (1 February 1992); doi: 10.1117/12.57107
Show Author Affiliations
Alain Croteau, Univ. Laval (Canada)
Denis Laurendeau, Univ. Laval (Canada)
Jean Lessard, Institut de Recherche d'Hydro-Quebec (Canada)


Published in SPIE Proceedings Vol. 1607:
Intelligent Robots and Computer Vision X: Algorithms and Techniques
David P. Casasent, Editor(s)

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