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Hardware Teaching Lab

The largest room shown measured is our Hardware teaching lab, it is approximately $40\times 20\times 10 \mbox{ft}^{3}$. Reprojections of two datasets are shown in figures 12, 14, 15, and 13. The lab consists of two areas, a lecture area with a table, chairs, and a white-board, along with a lab area where there are 4 electronic workbenches. These images show a plant, the effect of maximum range, and some erroneous data from the laser being split across two surfaces during acquisition (a close and far wall).


  
Figure 12: A view showing the hardware teaching lab data from a far distance. The outcroppings in the lower left are places where the laser entered a closet.
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Figure 13: This view shows a different view of the closets described in figure 12. This image is included to show how the rangefinder sometimes interpolates between distances as some portion of the beam falls on something near, while the remainder of the beam falls on a further surface. In the closet, on the right of the image, there is a trace that goes from a closer wall to an object inside the closet. Notice how it gradually moves from one to the other. This data is completely wrong, arising from interpolation by the rangefinding hardware. The same trace and another are visible in figure 12.
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Figure 14: A view towards the far wall. This image shows the maximum range of the rangefinder being set just a bit short, so the center of the far wall is within the maximum, but the corners are not. Also note the plant in the foreground.
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\epsfig{file=htl1a.eps,width=21pc}
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Figure 15: This view shows the electronics workbench area. The rangefinder's shadow is the large black area on the floor.
\begin{figure}\begin{center}
\epsfig{file=htl1b.eps,width=21pc}
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next up previous
Next: Tracked Acquisition Up: Sample Data Sets Previous: MSL Conference Room
Lars S. Nyland
1999-02-19