AVENUE: Automated site modeling in urban environments

Allen, Peter K.; Stamos, Ioannis; Gueorguiev, Andrey; Gold, Eric; Blaer, P.

doi:10.1109/im.2001.924477

Cited by 65 publications

(59 citation statements)

References 9 publications

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“…A few groups use 3D laser scanners [1,5,11,14,15]. The RESOLV project aimed to model interiors for virtual reality and tele presence [11].…”

Section: D Mapping -State Of the Artmentioning

confidence: 99%

“…They used a RIEGL laser range finder on robots and the ICP algorithm for scan matching [3]. The AVENUE project develops a robot for modeling urban environments [1], using an expensive CYRAX laser scanner and a feature-based scan matching approach for registration of the 3D scans in a common coordinate system. Nevertheless, in their recent work they do not use data of the laser scanner in the robot control architecture for localization [5].…”

Section: D Mapping -State Of the Artmentioning

confidence: 99%

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3D Mapping with Semantic Knowledge

Nüchter

Wulf

Lingemann

et al. 2006

Lecture Notes in Computer Science

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Abstract.A basic task of rescue robot systems is mapping of the environment. Localizing injured persons, guiding rescue workers and excavation equipment requires a precise 3D map of the environment. This paper presents a new 3D laser range finder and novel scan matching method for the robot Kurt3D [9]. Compared to previous machinery [12], the apex angle is enlarged to 360 • . The matching is based on semantic information. Surface attributes are extracted and incorporated in a forest of search trees in order to associate the data, i.e., to establish correspondences. The new approach results in advances in speed and reliability.

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“…A few groups use 3D laser scanners [1,5,11,14,15]. The RESOLV project aimed to model interiors for virtual reality and tele presence [11].…”

Section: D Mapping -State Of the Artmentioning

confidence: 99%

Section: D Mapping -State Of the Artmentioning

confidence: 99%

3D Mapping with Semantic Knowledge

Nüchter

Wulf

Lingemann

et al. 2006

Lecture Notes in Computer Science

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“…However, the use of TOF technology leads to a major drawback in that the TOF camera is highly subjected to frame-to-frame noises, especially on reflective surfaces. Alternatively, two groups have used 3D laser scanners [8,9]. A 3D laser scanner generates consistent 3D data points within a single 3D scan.…”

Section: Introductionmentioning

confidence: 99%

Application of Matrix Pencil Algorithm to Mobile Robot Localization Using Hybrid DOA/TOA Estimation

Trinh

Thang

Kim

et al. 2012

International Journal of Advanced Robotic Systems

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Localization plays an important role in robotics for the tasks of monitoring, tracking and controlling a robot. Much effort has been made to address robot localization problems in recent years. However, despite many proposed solutions and thorough consideration, in terms of developing a low-cost and fast processing method for multiple-source signals, the robot localization problem is still a challenge. In this paper, we propose a solution for robot localization with regards to these concerns. In order to locate the position of a robot, both the coordinate and the orientation of a robot are necessary. We develop a localization method using the Matrix Pencil (MP) algorithm for hybrid detection of direction of arrival (DOA) and time of arrival (TOA). TOA of the signal is estimated for computing the distance between the mobile robot and a base station (BS). Based on the distance and the estimated DOA, we can estimate the mobile robot's position. The characteristics of the algorithm are examined through analysing simulated experiments and the results demonstrate the advantages of our method over previous works in dealing with the above challenges. The method is constructed based on the low-cost infrastructure of radio frequency devices; the DOA/TOA estimation is performed with just single value decomposition for fast processing. Finally, the MP algorithm combined with tracking using a Kalman filter allows our proposed method to locate the positions of multiple source signals.

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“…In other cases, such as virtual tourism, precise geometry is not as critical as photometric accuracy (Huber 2002). The research studies has proven that the 3D laser scanners are effective sensing modality for creating accurate models (Huber (2002), (Bernardini and Rushmeier, 2000), (Allen et al, 2001). …”

Section: Introductionmentioning

confidence: 99%

An approach for real world data modelling with the 3D terrestrial laser scanner for built environment

Arayıcı

2007

Automation in Construction

169

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Capturing and modelling 3D information of the built environment is a big challenge. A number of techniques and technologies are now in use. These include EDM, GPS, and photogrammetric application, remote sensing and traditional building surveying applications. However, use of these technologies cannot be practical and efficient in regard to time, cost and accuracy. Furthermore, a multi disciplinary knowledge base, created from the studies and research about the regeneration aspects is fundamental: historical, architectural, archeologically, environmental, social, economic, etc. In order to have an adequate diagnosis of regeneration, it is necessary to describe buildings and surroundings by means of documentation and plans. However, at this point in time the foregoing is considerably far removed from the real situation, since more often than not it is extremely difficult to obtain full documentation and cartography, of an acceptable quality, since the material, constructive pathologies and systems are often insufficient or deficient (flat that simply reflects levels, isolated photographs,..). Sometimes the information in reality exists, but this fact is not known, or it is not easily accessible, leading to the unnecessary duplication of efforts and resources.In this paper, we discussed 3D laser scanning technology, which can acquire high density point data in an accurate, fast way. Besides, the scanner can digitize all the 3D information concerned with a real world object such as buildings, trees and terrain down to millimetre detail Therefore, it can provide benefits for refurbishment process in regeneration in the Built Environment and it can be the potential solution to overcome the challenges above. The paper introduce an approach for scanning buildings, processing the point cloud raw data, and a modelling approach for CAD extraction and building objects classification by a pattern matching approach in IFC (Industry Foundation Classes) format. The approach presented in this paper from an undertaken research can lead to parametric design and Building Information Modelling (BIM) for existing structures. Two case studies are introduced to demonstrate the use of laser scanner technology in the Built Environment. These case studies are the Jactin House Building in East Manchester and the Peel building in the campus of University Salford. Through these case studies, while use of laser scanners are explained, the integration of it with various technologies and systems are also explored for professionals in Built Environment.

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AVENUE: Automated site modeling in urban environments

Cited by 65 publications

References 9 publications

3D Mapping with Semantic Knowledge

3D Mapping with Semantic Knowledge

Application of Matrix Pencil Algorithm to Mobile Robot Localization Using Hybrid DOA/TOA Estimation

An approach for real world data modelling with the 3D terrestrial laser scanner for built environment

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