移動ロボット搭載のカメラを用いた物体の三次元形状モデリング

抄録

This paper describes 3-D shape modeling performed by a mobile robot. We propose a method in which the robot in the real environment acquires the accurate shape and constructs a 3-D model of an object using Computer Vision techniques under the condition that position and shape of the object is unknown. A 3-D model is reconstructed from image streams which are captured by a camera mounted on the robot. The experimental results show the effectiveness of our method.