%0 Conference Paper %1 3DIM2003 %A Nüchter, A. %A Surmann, H. %A Hertzberg, J. %B Proceedings of the 4th IEEE International Conference on Recent Advances in 3D Digital Imaging and Modeling (3DIM '03) %C Banff, Canada %D 2003 %K imported %P 394--401 %R 10.1109/IM.2003.1240274 %T Automatic Model Refinement for 3D Reconstruction with Mobile Robots %U https://robotik.informatik.uni-wuerzburg.de/telematics/download/3dim2003.pdf %X 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 algorithm that transforms a 3D volumetric model into a very precise compact 3D map and generates semantic descri ptions. Our system is composed of a robust, autonomous mobile robot for the automatic data acquisition and a precise, cost effective, high quality 3 D laser scanner to gage indoor environments. The reconstruction method consists of reliable scan matching and feature detection algorithms. The 3D scene is matched against a coarse semantic description of general indoor environments and the generated knowledge is used to refine the 3D model.

@inproceedings{3DIM2003, abstract = {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 algorithm that transforms a 3D volumetric model into a very precise compact 3D map and generates semantic descri ptions. Our system is composed of a robust, autonomous mobile robot for the automatic data acquisition and a precise, cost effective, high quality 3 D laser scanner to gage indoor environments. The reconstruction method consists of reliable scan matching and feature detection algorithms. The 3D scene is matched against a coarse semantic description of general indoor environments and the generated knowledge is used to refine the 3D model. }, added-at = {2017-09-19T13:40:53.000+0200}, address = {Banff, Canada}, author = {N{\"u}chter, A. and Surmann, H. and Hertzberg, J.}, biburl = {https://www.bibsonomy.org/bibtex/236e25098035bb17e631ccd4979a105b7/nuechter76}, booktitle = {Proceedings of the 4th IEEE International Conference on Recent Advances in 3D Digital Imaging and Modeling (3DIM '03)}, doi = {10.1109/IM.2003.1240274}, interhash = {bbb9b3a76c491418f736ba87c010d5a6}, intrahash = {36e25098035bb17e631ccd4979a105b7}, keywords = {imported}, month = {October}, pages = {394--401}, timestamp = {2017-09-29T16:01:21.000+0200}, title = {{A}utomatic {M}odel {R}efinement for {3D} {R}econstruction with {M}obile {R}obots}, url = {https://robotik.informatik.uni-wuerzburg.de/telematics/download/3dim2003.pdf}, year = 2003 }