Latest technological solution that allow remote inspection of the treasures of a cave and reconstruct 2D and 3D models of interesting areas of the environment is discussed. The solution uses a mobile robot that can autonomously navigate the cave, acquire, and send information to a remote console. The robot constructs 2D map of the environment using data coming from the on-board laser range scanner and builds the 3D model of some zones that are rich in wall painting using a computer vision technique. The application of the solution is advantageous as it can be used without installing particular infrastructures in the site minimizing the risk of damaging the cave.
Automatic 2D and 3D models reconstruction in a pre-historical cave during robot inspection
Cicirelli G;Attolico G;Distante A
2006
Abstract
Latest technological solution that allow remote inspection of the treasures of a cave and reconstruct 2D and 3D models of interesting areas of the environment is discussed. The solution uses a mobile robot that can autonomously navigate the cave, acquire, and send information to a remote console. The robot constructs 2D map of the environment using data coming from the on-board laser range scanner and builds the 3D model of some zones that are rich in wall painting using a computer vision technique. The application of the solution is advantageous as it can be used without installing particular infrastructures in the site minimizing the risk of damaging the cave.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
