Zusammenfassung
Precise digital 3D models of indoor environments are
needed in several applications, e.g., facility
management, architecture, rescue and inspection
robotics. This paper presents a new method that
transforms a 3D volumetric model, acquired by a
mobile robot equipped with a 3D laser scanner, into
a very precise compact 3D map and generates semantic
descriptions. The scanned 3D scene is matched
against a coarse semantic description of general
indoor environments. The matching is done by a
Prolog program compiled from the scanned 3D scene
and combined with clauses from the coarse semantic
description. The generated scene specific knowledge
produced by the unification in the Prolog program is
used to refine the 3D model.
Nutzer