3D Reconstruction of Environments for Planetary Exploration

S\'{e}bastien Gemme, Joseph Nsasi Bakambu, Ioannis Rekleitis
In Canadian Conference on Computer and Robot Vision (CRV) 2005.


Abstract: In this paper we present our approach to 3D surface reconstruction from large sparse range data sets. In space robotics constructing an accurate model of the environment is very important for a variety of reasons. In particular, the constructed model can be used for: safe tele-operation, path planning, planetary exploration and mapping of points of interest. Our approach is based on acquiring range scans from different view-points with overlapping regions, merge them together into a single data set, and fit a triangular mesh on the merged data points. We demonstrate the effectiveness of our approach in a path planning scenario and also by creating the accessibility map for a portion of the Mars Yard located in the Canadian Space Agency.



  author       = {S\'{e}bastien Gemme, Joseph Nsasi Bakambu and Ioannis
  title        = {3D Reconstruction of Environments for Planetary
  booktitle    = {Canadian Conference on Computer and Robot Vision (CRV)},
  pages        = {594--601},
  year	       = {2005},
  address      = {Victoria, BC, Canada},
  month        = {May},
  publisher    = {IEEE}

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