Laser-based modeling

Study on CPS SLAM - 3D laser measurement system for large scale architectures using multiple mobile robots

In order to construct three dimensional shape models of large scale architectures by a laser range finder, a number of range images have to be taken from various viewpoints and these images have to be aligned using post-processing procedure such as ICP algorithm. In general, however, before applying ICP algorithm, these range images have to be registered to positions close to correct ones manually beforehand in order to be converged to precise positions. In addition, range images must be overlapped sufficiently each other by taking them from dense positions. We propose a new measurement system for large scale architectures using a group of multiple robots and an on-board laser range finder. Each measurement position is identified by the highly precise positioning technique named Cooperative Positioning System, CPS which utilizes the characteristics of multiple robots system. The proposed system constructs 3D shapes of large scale architectures without any post-processing procedure such as ICP algorithm and dense range measurements.

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A group of robots equipped with laser range finder, CPS-VIII
3D models by automatic modeling
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A group of robots equipped with laser range finder, CPS-V
PhotoPhoto 3D map of large scale architecture
Introduction (19MB) Introduction (14MB)
Photo Dazaifu Tenmangu shrine Photo Dazaifu Tenmangu shrine
Seibuen Park Kyushu University

Papers

Laser measurement system of precise tunnel shape

The three-dimensional shape measurement platform of urban architectures such as a tunnel under construction is developed. This system is composed of a mobile platform equipped with a two-dimensional laser scanner, a three-axis fiber optic gyro, corner cubes, integrated software, and a total station. The total station is placed on reference points in a tunnel and measures the position of the corner cubes on the mobile platfrom. Cross-sectional shapes of a tunnel are measured continuously by the two-dimensional laser scanner on the mobile platform, and converted to the three-dimensional tunnel shape according to the position and orientation measured by the total station and the fiber optic gyro. The integrated software is able to compare the measured shape with the design shape loaded from a three-dimensional CAD system via standard LandXML format, and display the error distribution for the management of construction process through GUI in real-time and on-site.

Photo Laser measurement system Multiple robot system
Real-time tunnel shape measurement Measured 3D tunnel shape

Smoothing and impainting technique using laser reflectivity

We developed two denoising techniques using reflectivity for noisy range images: range image smoothing by trilateral filter and range image impainting by belief propagation. The trilateral filter makes use of reflectivity as well as spatial and intensity information so that geometric features, such as jump and roof edges, are preserved while smoothing. The range image impainting technique based on belief propagation recovers a deteriorated range image using not only the adjacent range values but also the continuity of the reflectance image. We conduct simulations and experiments using synthesized images and actual range images taken by a laser scanner and verify that the proposed techniques suppress noise while preserving jump and roof edges and repair deteriorated range images.

Photo Raw range image Photo Bilateral filter Photo Proposed filter
Photo Shape recognition by slit laser using reflectivity Photo Reflectance image Photo Recognition of reflectance image

Papers

6D localization using range and reflectance data

6D global localization technique is developed using range and reflectance data obtained by laser scanner and bag-of-features (BoF) technique. Global localization is a fundamental ability to recognize the accurate global position for a mobile robot in a revisited environment. The map-based global localization gives a precise position by calculating an accurate transformation, but the comparison with large 3D data is quite time consuming. The appearance-based global localization which determines the global position by image retrieval techniques with similar structures is real-time. However, this technique needs external illumination constraint and does not work in the dark extremely. We propose a combination of the map-based global localization and the appearance-based global localization. Instead of camera images used for the appearance-based global localization, we utilize reflectance images which are taken as a byproduct of range sensing by a laser range finder.

Photo Proposed technique Photo Pairs in reflectance images using BoF

Papers

Geometrical and photometrical modeling of real objects using laser range finders and digital cameras

Tokyo University, Ikeuchi Lab.

Textured image of Kamakura Great Buddha

Papers

  • Katsushi Ikeuchi, Takeshi Oishi, Jun Takamatsu, Ryusuke Sagawa, Atsushi Nakazawa, Ryo Kurazume, No Nishino, Mawo Kamakura and Yasuhide Okamoto, The Great Buddha Project: Digitally Archiving, Restoring, and Analyzing Cultural Heritage Objects, International Journal of Computer Vision, Vol.75, No.1, pp.189-208, (2007.2)
  • Ryo Kurazume, Ko Nishino, Mark D. Wheeler, Katsushi Ikeuchi, Mapping textures on 3D geometric model using reflectance image, Systems and Computers in Japan, Vol. 36, Issue 13, pp.92-101, (2005.11)
  • Takeshi Oishi, Atsushi Nakazawa, Ryo Kurazume, and Katsushi Ikeuchi, Fast Simultaneous Alignment of Multiple Range Images Using Index Images, in Proc. The 5th International Conference on 3-D Digital Imaging and Modeling (3DIM), pp.476-483,2005.
  • Yuichiro Hirota, Tomohito Masuda, Ryo Kurazume, Kohichi Ogawara, Kazuhide Hasegawa, Katsushi Ikeuchi, Flying Laser Range Finder and its data registration, Proc. IEEE Int. Conf. on Robotics and Automation, pp. 3155-3160, 2004.
  • Yuichiro Hirota, Tomohito Masuda, Ryo Kurazume, Koichi Ogawara, Kazuhide Hasegawa, Katsushi Ikeuchi, Designing a laser range finder which is suspended beneath a balloon, Proc. of Sixth Asian Conference on Computer Vision (ACCV), 2004.
  • Takeshi Oishi, Ryusuke Sagawa, Atsushi Nakazawa, Ryo Kurazume, Katsushi Ikeuchi, Parallel Alignment of a Large Number of Range Images, Proc. The 4th International Conference on 3D Digital Imaging and Modeling (3DIM 2003) , pp.195-202, 2003
  • Ryusuke Sagawa, Takeshi Oishi, Atsushi Nakazawa, Ryo Kurazume, Katsushi Ikeuchi, Iterative Refinement of Range Images with Anisotropic Error Distribution,Proceedings of the 2002 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, October 2002
  • Ryo Kurazume, Ko Noshino, Zhengyou Zhang, and Katushi Ikeuchi, Simultaneous 2D images and 3D geometric model registration for texture mapping utilizing reflectance attribute, Proc. of Fifth Asian Conference on Computer Vision (ACCV), vol.1, pp.99-106, 2002.
  • Katsushi Ikeuchi, Yutaka Takase, Ryo Kurazume, Takeshi Oishi, Ryusuke Sagawa, Ko Nishino, Modeling Cultural Heritage Through Observation, Int. Sympo. on Artificial Intelligence, Robotics and Human Centered Technology for Nuclear Applications, pp.26-32, 2002
  • Ryo Kurazume, Mark D. Wheeler, and Katushi Ikeuchi, Mapping textures on 3D geometric model using reflectance image, Workshop for Data Fusion at IEEE Int. Conf. on Robotics and Automation, 2001.