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Summary: Fast Digitization of Large-Scale Hazardous Facilities
Brad Grinstead, Andreas Koschan, Mongi A. Abidi
Imaging, Robotics, and Intelligent Systems Laboratory
334 Ferris Hall
Department of Electrical & Computer Engineering
The University of Tennessee
Knoxville, TN 37996
{bgrinste, akoschan, abidi}@utk.edu
Abstract Robotics technology has become a major interest for groups that deal with hazardous environments. Of
special interest is the conversion from telepresence robotics to more automated approaches. In order to facilitate this
conversion, we have developed a system for the fast acquisition of large-scale environments to develop the a priori
information needed for prediction and performance optimization. This system collects ground-level range scans and
combines them with high-resolution digital imagery and positioning and orientation information to provide detailed 3D
models of the target environment. The fusion of these data provides models suitable for a variety of robotics-oriented tasks,
such as visualization, sensor placement, and robotic path planning.
I. INTRODUCTION
Over the last 10 years, there has been a large push to
apply robotics technology to problems involving
hazardous environments. These environments contain
chemicals or radiation that make having a human
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