Date of Original Version

2-2010

Type

Technical Report

Rights Management

All Rights Reserved

Abstract or Description

We describe a probabilistic model for utilizing passthrough information for producing 3D geometry models from a rotating laser scanner. Our method is fast, performs particularly well with relatively sparse data, is robust to noise of the depth data and naturally handles grazing points. We demonstrate our results on the HERB platform where the robot automatically builds a watertight 3D model of an object it is handed.

Comments

CMU-RI-TR-10-07

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Robotics Commons

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