Rapid world modelling for robotics
- Sandia National Labs., Albuquerque, NM (United States)
- Spectra Research, Inc. (United States)
The ability to use an interactive world model, whether it is for robotics simulation or most other virtual graphical environments, relies on the users ability to create an accurate world model. Typically this is a tedious process, requiring many hours to create 3-D CAD models of the surfaces within a workspace. The goal of this ongoing project is to develop usable methods to rapidly build world models of real world workspaces. This brings structure to an unstructured environment and allows graphical based robotics control to be accomplished in a reasonable time frame when traditional CAD modelling is not enough. To accomplish this, 3D range sensors are deployed to capture surface data within the workspace. This data is then transformed into surface maps, or models. A 3D world model of the workspace is built quickly and accurately, without ever having to put people in the environment.
- Research Organization:
- Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC04-94AL85000
- OSTI ID:
- 217840
- Report Number(s):
- SAND-96-0881C; CONF-9603143-1; ON: DE96008906; TRN: 96:010600
- Resource Relation:
- Conference: International symposium on robotics and manufacturing (ISRM), Montpellier (France), 27-30 Mar 1996; Other Information: PBD: [1996]
- Country of Publication:
- United States
- Language:
- English
Similar Records
Rapid world modeling: Fitting range data to geometric primitives
Advanced robotic technologies for transfer at Sandia National Laboratories