|Funding Reference||EU-FP4-ACTS Project AC021, EU|
The RESOLV projects goal is to develop a general purpose tool to reconstruct large and complex indoor environments, rendering the representation available to users anywhere in the world. The system, termed EST (Environment Sensing for Telepresence) consists of a sensing head with a Laser Range Scanner and a video camera connected to a computer where the sensor control and data processing are done. To extend the project capabilities allowing automatic reconstruction and sensor displacement, the EST was mounted on top of a mobile platform, the AEST (Autonomous Environment Sensor for Telepresence), which is required to exhibit an autonomous behaviour, thus reducing human local intervention and allowing remote control facilities. The project follows the Internet paradigm, thus the reconstructed environment model is described in VRML format and the acquisition procedure is controlled through the Internet with a browser-like tool. All data processing is made on board and only the results are sent through the Internet.
Intelligent Robots and Systems Group (IRSg)
|Project Partners||BICC (UK), University of Leeds (UK), Joint Research Centre (I), Robosoft (F), INESC (P), VERSassociates (UK), Fraunhofer Institute (G), Collaboration of University of Aveiro (P)|
Reconstruction using Scanned Laser and Video
 Joao Gomes Mota, Isabel Ribeiro, Mobile Robot Localisation of Reconstructed 3D Models, Journal of Robotics and Autonomous Systems 31 (1-2) pp. 17-30, Elsevier Science , 2000
 Vitor Santos, Jose P. Castro, Isabel Ribeiro, A Nested-Loop Architecture for Mobile Robot Navigation, International Journal of Robotics Research, Vol.19, No.12, 2000
 Vitor Santos, Jose Castro, Isabel Ribeiro, Efficient Detection of Collision Imminence for Mobile Robots, Proceedings of the 4th Portuguese Conference on Automatic Control, Guimaraes, Portugal, 2000