Reconstruction of Three Dimensional Models of Environments with a Mobile Robot

Abstract- In this paper we present a method for the threedimensional reconstruction of environments, using a mobile platform that has onboard a scanner laser for the acquisition of the geometry of the scene, and a webcam for the registration of the texture of the environment. The used algorithm is based on the localization of the planes that conform the scene, the assignment of the 3D points to the planes for subsequently to apply a triangulation and this way to obtain the surfaces and contours of the model. In the texture the images are assigned to the plane surfaces and by means of a stitching algorithm (image mosaics), the complete scene is compose, in “Vrml” format. To diminish the loss of information of the free forms, and the distortion generated well because the points are considered discarded or because they can not be approximate to planes, we propose a variant in the treatment of the data that consists on projecting the images of the scene and the 3D points on a sphere After to obtain the corresponding planes in angular coordinates (teta, phi), the assignment of texture would be realized on the triangular surfaces obtained of the model points. Index Terms – Scanner laser, image mosaics, 3D models. I