3D Modeling Technique Research Based On 2.5D For Robotics

In recent years, the request of the work field of robot becomes more and more extensive with the fast development in robot. The robot now steps the direction from the structured environment into the vaster and more complicated unstructured environment. In robot system, modeling is the foundation and key factor for robot to finish the missions, which are given by people. With the major premise of the delicate description, a highly-efficiency and accurate environment modeling is built to pay attention on important points, such as data crunch, task type, the robot features and so on. This will be the foundation for successful work of other functional modules. Modeling not only decides the applicability of robot in various environments, the ability to handling complex problems, path planning and monitoring with the rapid, real-time factors etc, but also determines users' acceptance of the system together with man-machine interface. The unstructured modeling can expand the work fields of the robot further more, develop the feature of the robot more and adequately, and promote the robot intelligence. At present, there is relatively less research launched in the unstructured modeling of the robot for domestic and international, and the research of this field is still at the beginning stage.The paper analyzes the advantages and disadvantages of the robots' traditional modeling methods and the special requirements for the unstructured modeling and the deficiencies of the existing modeling methods and the realistic meaning for robot and the social. The paper also sufficiently researches the 2.5D description and the application of feature, discusses thoroughly the advantages of the two technologies, applying in the unstructured modeling. Combining the two technologies, the paper puts forward a method on building the unstructured modeling, which is based on 2.5D description and the application of feature. On this basis, through in-depth and detailed analysis and research on the thought of design, frame structure and function partition of the various functional modules of the overall system, a technical method and implementation strategies is raised, which is viable with the objective reality and practical. The paper introduces the define of the entity sample and the entity sample's transformation method based on the standard entity sample, and establishes the entity sample sketch storehouse, the transformed sample sketch storehouse and also sets up the entity sample knowledgebase. Finaly, it points out the remaining limitations and shortage of the present system, and proposes the work plan and target in the future.