Date of Original Version
Abstract or Description
We present a method for building models of complex environments from range data gathered at multiple viewpoints. Our approach is unique in that no prior knowledge of the relative positions of the viewpoints is needed in order to register data from them. Furthermore, we present a technique for specification and utilization of so-called “common-sense” constraints on the transformations between views to improve the accuracy and speed of the registration process. Results are shown from our effort to map a 60 m. by 20 m. multiple-room storage area containing a cluttered array of objects.
Proceedings 1998 IEEE/RSJ International Conference On Intelligent Robotic Systems (IROS '98), 360-367.