Reliable omnidirectional depth map generation for indoor mobile robot navigation via a single perspective camera
文献类型：会议论文
| 作者 | Luo CJ(罗川江); Zhu F(朱枫) ; Shi ZL(史泽林)
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| 出版日期 | 2006 |
| 会议名称 | 16th International Conference on Artificial Reality and Telexistence |
| 会议日期 | November 29 - December 2, 2006 |
| 会议地点 | Hangzhou, China |
| 页码 | 1283-1292 |
| 中文摘要 | This paper deals with the problem of finding the largest navigable areas around a mobile robot, which is important for navigation and action planning. We propose a method to obtain reliable dense 3D maps using a novel omnidirectional stereo vision system. The vision system is composed of a perspective camera and two hyperbolic mirrors. Once the system has been calibrated and two image points respectively projected by upper and below mirrors are matched, the 3D coordinate of the space point can be acquired by means of triangulation. To achieve the largest reliable dense matching, our method are divided into three steps. First reliable FX-dominant matching; then feature matching and ambiguous removal; finally the remaining points between features are matched using dynamic time warping(DTW) with modified energy functions adapted well to our system. Experiments show that this proposed vision system is feasible as a practical stereo sensor for accurate 3D map generation. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | VRSJ, Zhejiang Univ Technol, China Soc Image & Graph, VR Comm |
| 会议录 | Advances in Artificial Reality and Tele-Existence, Proceedings
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| 会议录出版者 | SPRINGER-VERLAG |
| 会议录出版地 | BERLIN |
| 语种 | 英语 |
| ISSN号 | 0302-9743 |
| ISBN号 | 978-3-540-49776-9 |
| WOS记录号 | WOS:000244711900133 |
| 源URL | [http://ir.sia.cn/handle/173321/8017]  |
| 专题 | 沈阳自动化研究所_光电信息技术研究室 |
| 推荐引用方式 GB/T 7714 | Luo CJ,Zhu F,Shi ZL. Reliable omnidirectional depth map generation for indoor mobile robot navigation via a single perspective camera[C]. 见:16th International Conference on Artificial Reality and Telexistence. Hangzhou, China. November 29 - December 2, 2006. |
入库方式： OAI收割
来源：沈阳自动化研究所
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