A Survey of Methods for Volumetric Scene Reconstruction from Photographs

Scene reconstruction, the task of generating a 3D model of a scene given multiple 2D photographs taken of the scene, is an old and difficult problem in computer vision. Since its introduction, scene reconstruction has found application in many fields, including robotics, virtual reality, and entertainment. Volumetric models are a natural choice for scene reconstruction. Three broad classes of volumetric reconstruction techniques have been developed based on geometric intersections, color consistency, and pair-wise matching. Some of these techniques have spawned a number of variations and undergone considerable refinement. This paper is a survey of techniques for volumetric scene reconstruction

MOBILE ROBOT POSE TRACKING FOR PERFORMANCE ANALYSIS

a project to develop an Automated Steel Construction Testbed. The initial phase of this project centers on tracking a six degree-of-freedom robotic crane with a laser-based site measurement system to provide position feedback for autonomous steel assembly. Follow-on efforts will use a high-resolution LADAR scanner co-registered with the site measurement system to provide world model data. The combination of these two advanced metrology systems provides an opportunity for testing performance characteristics of mobile intelligent systems