Date of Original Version



Conference Proceeding

Abstract or Description

We present a perception system, called Artisan, that semi-automatically builds 3-D models of a robot’s workspace. Range images are acquired with a scanning laser rangefinder and then processed, based on a systematic sensor characterization, to remove noise and artifacts. Complex 3-D objects represented as surface meshes are subsequently recognized in the range images and inserted into a virtual workspace. This graphical virtual workspace is then used to by human operators to plan and execute remote robotic operations.


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Included in

Robotics Commons



Published In

International Conference on Recent Advances in 3-D Digital Imaging and Modeling, 213-220.