3D Non-Contact Building Survey Technique

Abstract

This paper presents a non-contact 3D environments mapping technique using mobile robots with different perception devices such as stereo camera, structural light camera or custom made 3D laser scanner. The custom developed non-contact scanning device is suitable for making building surveillance both in small and large scales. These measurements can be further used for urban region planning as well as for navigation purposes for autonomous agents such as mobile vehicles.. The large maps can be built from successive scan merging in an iterative manner. For such an approach is essential the initial matching between two measurements, which in our proposed method was performed using special extracted features from the measured data sets. The registered maps can be further used for perceptual purposes, including object segmentation or planning maps for the mobile agents. For both types of applications, there are given experimental results obtained from the proposed registration and segmentation algorithms.