关键词：机器人；半自动；建模
摘 要：In the field of service robotics there is a high demand for high quality models of all the objects a service robot should be capable of handling. This is especially true for geometrical representations of objects that can be used for visualization and simulation. The acquisition of such models can be done using the sensors available on the robot or can be generated off line using specialized hardware. Currently the latter approach yields qualitatively better results for onboard sensors are still limited. In project DESIRE high quality models were needed to train the vision system as well as the manipulation capabilities of the demonstrator, thus a specialized sensor setup was constructed and used to generate 2D and 3D object models.