This is a local copy of the web
page originally hosted at:
in collaboration with: Winston Wong, Christian Langis,
Jean-Francois LaPointe, Ben Houston,
Vitana, and Hymarc Ltd.
Object digitization - the process of
acquiring a complete covering set of range images of the surface of a model
- is a highly skilled process, and can be labor intensive. Sushi
is a system which applies a semi-autonomous approach to the human
computer interaction of digitization.
The Sushi system was
inspired by previous research in the supervisory control of robots, as well as
the Hymarc Ltd. RapidscanTM project. The hardware platform comprises a Vitana Biris range sensor
mounted on a CRS A465 robotic manipulator. The operator is provided which a 3D
simulation visualization of the robot-mounted scanning system and
workspace, as well as a rich set of tools to help plan and visualize image
Current system features include:
An attractive aspect of the Sushi framework is that it is incremental: additional functions with a greater degree of autonomy can be added as they become available.