雷射測距儀因其偵測角度與可測量距離範圍廣，因此極適於搭載在自走車機器人上做為避障與周圍地形偵測用途。若對雷射測距儀加上旋轉軸，則更可以掃描周圍環境而在電腦建立三維模型。
本論文針對一般的結構式室內環境提出一個快速建模的方法，此方法尤其適合於如長廊等有大範圍平面的構造。我們將雷射測距儀傾倒置於自走車機器人後方，並讓自走車機器人自旋一圈，如此雷射測距儀的可偵測範圍幾乎形成一個半球，而能針對周遭的環境立即且自動建立一個三維模型。藉由此方法可在三維模型建立的初始階段即得到一足夠穩定的模型，以提供後續移動時定位參考的良好第一步。接下來，針對感測器量測誤差所造成皺摺且高複雜度的三維模型的現象，本論文也提出一個快速的方法使原始的三維模型能夠在O(n)的時間內快速將平面部份的三角網格合併，以供即時(real-time)渲染的低複雜度三維模型。

The advantage of wide angle scanning range with reasonable low noise level makes laser range finder very suitable to serve as proximity sensor in autonomous mobile robots. Given a rotating axis, the laser range finder can grab the point cloud of surrounding obstacles, objects, or the whole environment, which can be further utilized to reconstruct a 3D model of the surrounding environment.
This thesis proposes a fast 3D environment reconstruction method for structural indoor environment. The proposed method gives supreme results to spots with only flat walls and ceiling like corridors. We lay down the laser range finder behind the mobile robot and make the mobile robot tow it. The mobile robot is asked to make a spinning motion for 360 degrees. The overlapped detection area of the laser range finder in this rotation would almost fill up a half-sphere. Since the position of robot is fixed during the spinning motion, the 3D model generated by this sampling process is considered stable and precise enough to serve as the initial reference model of localization. To compensate the noise of laser range finder which makes 3D models of high complexity and purse structure, this thesis also proposes a fast algorithm to improve. This algorithm generates a structural, real-time renderable and low complicated 3D model.

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