Towards the Automatic Scanning of Indoors with Robots
This paper is framed in both 3D digitization and 3D data intelligent processing research fields. Our objective is focused on developing a set of techniques for the automatic creation of simple three-dimensional indoor models with mobile robots. The document presents the principal steps of the proces...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2015-05-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | http://www.mdpi.com/1424-8220/15/5/11551 |
| _version_ | 1828280211307757568 |
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| author | Antonio Adán Blanca Quintana Andres S. Vázquez Alberto Olivares Eduardo Parra Samuel Prieto |
| author_facet | Antonio Adán Blanca Quintana Andres S. Vázquez Alberto Olivares Eduardo Parra Samuel Prieto |
| author_sort | Antonio Adán |
| collection | DOAJ |
| description | This paper is framed in both 3D digitization and 3D data intelligent processing research fields. Our objective is focused on developing a set of techniques for the automatic creation of simple three-dimensional indoor models with mobile robots. The document presents the principal steps of the process, the experimental setup and the results achieved. We distinguish between the stages concerning intelligent data acquisition and 3D data processing. This paper is focused on the first stage. We show how the mobile robot, which carries a 3D scanner, is able to, on the one hand, make decisions about the next best scanner position and, on the other hand, navigate autonomously in the scene with the help of the data collected from earlier scans. After this stage, millions of 3D data are converted into a simplified 3D indoor model. The robot imposes a stopping criterion when the whole point cloud covers the essential parts of the scene. This system has been tested under real conditions indoors with promising results. The future is addressed to extend the method in much more complex and larger scenarios. |
| first_indexed | 2024-04-13T07:56:44Z |
| format | Article |
| id | doaj.art-5280602b591042f6950f982564352a2b |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-13T07:56:44Z |
| publishDate | 2015-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-5280602b591042f6950f982564352a2b2022-12-22T02:55:23ZengMDPI AGSensors1424-82202015-05-01155115511157410.3390/s150511551s150511551Towards the Automatic Scanning of Indoors with RobotsAntonio Adán0Blanca Quintana1Andres S. Vázquez2Alberto Olivares3Eduardo Parra4Samuel Prieto53D Visual Computing and Robotics Lab, Universidad de Castilla-La Mancha (UCLM), Paseo de la Universidad, 4, Ciudad Real 13071, Spain3D Visual Computing and Robotics Lab, Universidad de Castilla-La Mancha (UCLM), Paseo de la Universidad, 4, Ciudad Real 13071, Spain3D Visual Computing and Robotics Lab, Universidad de Castilla-La Mancha (UCLM), Paseo de la Universidad, 4, Ciudad Real 13071, Spain3D Visual Computing and Robotics Lab, Universidad de Castilla-La Mancha (UCLM), Paseo de la Universidad, 4, Ciudad Real 13071, Spain3D Visual Computing and Robotics Lab, Universidad de Castilla-La Mancha (UCLM), Paseo de la Universidad, 4, Ciudad Real 13071, Spain3D Visual Computing and Robotics Lab, Universidad de Castilla-La Mancha (UCLM), Paseo de la Universidad, 4, Ciudad Real 13071, SpainThis paper is framed in both 3D digitization and 3D data intelligent processing research fields. Our objective is focused on developing a set of techniques for the automatic creation of simple three-dimensional indoor models with mobile robots. The document presents the principal steps of the process, the experimental setup and the results achieved. We distinguish between the stages concerning intelligent data acquisition and 3D data processing. This paper is focused on the first stage. We show how the mobile robot, which carries a 3D scanner, is able to, on the one hand, make decisions about the next best scanner position and, on the other hand, navigate autonomously in the scene with the help of the data collected from earlier scans. After this stage, millions of 3D data are converted into a simplified 3D indoor model. The robot imposes a stopping criterion when the whole point cloud covers the essential parts of the scene. This system has been tested under real conditions indoors with promising results. The future is addressed to extend the method in much more complex and larger scenarios.http://www.mdpi.com/1424-8220/15/5/11551indoor scanningLiDAR sensorsBIMautomatic 3D digitization |
| spellingShingle | Antonio Adán Blanca Quintana Andres S. Vázquez Alberto Olivares Eduardo Parra Samuel Prieto Towards the Automatic Scanning of Indoors with Robots Sensors indoor scanning LiDAR sensors BIM automatic 3D digitization |
| title | Towards the Automatic Scanning of Indoors with Robots |
| title_full | Towards the Automatic Scanning of Indoors with Robots |
| title_fullStr | Towards the Automatic Scanning of Indoors with Robots |
| title_full_unstemmed | Towards the Automatic Scanning of Indoors with Robots |
| title_short | Towards the Automatic Scanning of Indoors with Robots |
| title_sort | towards the automatic scanning of indoors with robots |
| topic | indoor scanning LiDAR sensors BIM automatic 3D digitization |
| url | http://www.mdpi.com/1424-8220/15/5/11551 |
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