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Model building for simulation and testing under uncertain conditions Brad Grinstead*

Summary: Model building for simulation and testing under uncertain conditions
Brad Grinstead*
, Andreas Koschan, David Page, and Mongi A. Abidi
Imaging, Robotics, and Intelligent Systems Laboratory, The University of Tennessee,
334 Ferris Hall, 1508 Middle Dr, Knoxville, TN 37865
3D models of real world environments are becoming increasingly important for a variety of applications: Vehicle
simulators can be enhanced through accurate models of real world terrain and objects; Robotic security systems can
benefit from as-built layout of the facilities they patrol; Vehicle dynamics modeling and terrain impact simulation can
be improved through validation models generated by digitizing real tire/soil interactions. Recently, mobile scanning
systems have been developed that allow 3D scanning systems to undergo the full range of motion necessary to acquire
such real-world data in a fast, efficient manner. As with any digitization system, these mobile scanning systems have
systemic errors that adversely affect the 3D models they are attempting to digitize. In addition to the errors given by the
individual sensors, these systems also have uncertainties associated with the fusion of the data from several instruments.
Thus, one of the primary foci for 3D model building is to perform the data fusion and post-processing of the models in
such a manner as to reconstruct the 3D geometry of the scanned surfaces as accurately as possible, while alleviating the
uncertainties posed by the acquisition system. We have developed a modular scanning system that can be configured
for a variety of application resolutions, as well as the algorithms necessary to fuse and process the acquired data. This
paper presents the acquisition system and the tools utilized for constructing 3D models under uncertain real-world
conditions, as well as some experimental results on both synthetic and real 3D data.


Source: Abidi, Mongi A. - Department of Electrical and Computer Engineering, University of Tennessee


Collections: Computer Technologies and Information Sciences