Automatic Building Of Qualitative 3Ã¢â‚¬â€?D Rock Models For Landmark Recognition

Willie Lim

doi:10.1117/12.969875

1 March 1990 Automatic Building Of Qualitative 3-D Rock Models For Landmark Recognition

Willie Lim

Proceedings Volume 1195, Mobile Robots IV; (1990) https://doi.org/10.1117/12.969875
Event: 1989 Symposium on Visual Communications, Image Processing, and Intelligent Robotics Systems, 1989, Philadelphia, PA, United States

Abstract

Rocks are natural landmarks for navigation by mobile robots through natural terrain, particularly rocky terrains. In order to use rocks as landmarks, the robot must be able to recognize such landmarks. For the robot to navigate effectively, it must also be able to automatically construct models of rocks to be used as new landmarks. This paper presents an approach to the automatic building of qualitative 3-D models for the rocks world; a world in which accurate quantitative models of objects are hard to obtain. The model is a graph where the nodes represent surface patches on the rock and the arcs represent the adjacency relationships between them. Shapes of surface patches are qualitatively described as types using a small set of possible types. With a camera mounted on a robot arm, a model is constructed from multiple views of the object. Starting with an initial view, the partial knowledge extracted is used for planning new camera positions. These new positions are needed for acquiring more knowledge about the object, e.g. the shapes and adjacency relationships of surfaces that are on the other side of the rock or that are only partially visible. As new knowledge is acquired, the model is updated and more new camera positions planned when necessary. The process is repeated until no additional knowledge can be acquired from the new positions. An example is used to illustrate how a rock model is built. The robustness and weaknesses of the approach are discussed. Suggestions for improvements are also included.

Citation Download Citation

Willie Lim "Automatic Building Of Qualitative 3-D Rock Models For Landmark Recognition", Proc. SPIE 1195, Mobile Robots IV, (1 March 1990); https://doi.org/10.1117/12.969875

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $17.00

Non-members: $21.00 ADD TO CART

PROCEEDINGS
8 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

RIGHTS & PERMISSIONS

Get copyright permission Get copyright permission on Copyright Marketplace

KEYWORDS

Cameras

3D modeling

Mobile robots

Artificial intelligence

Imaging arrays

Tolerancing

Data modeling

Show All Keywords

Keywords/Phrases

Search In:

Publication Years