Mobile robot 3D map building based on laser ranging and stereovision - 文章详情页

作者：

Jia, Songmin (Jia, Songmin.) (学者：贾松敏) | Cui, Wei (Cui, Wei.) | Li, Xiuzhi (Li, Xiuzhi.) | Shen, Hongmin (Shen, Hongmin.) | Sheng, Jinbo (Sheng, Jinbo.)

收录：

EI Scopus

摘要：

In　this　paper,　an　effective　3D　map　building　approach　based　on　range　data　from　binocular　stereo　vision　sensor　and　Laser　Range　Finder　is　introduced　in　detail.　First　of　all,　a　local　map　temporal　integration　approach　in　which　Bayesian　filter　based　dynamic　occupancy　grid　map　modeling　technique　is　employed　to　reasonably　deal　with　measurement　uncertainty　involved　in　environment　perception.　In　addition,　as　stereo　vision　is　unreliable　for　building　map,　an　effective　combination　approach　is　proposed　for　fusing　local　stereo　data　derived　map　and　laser　range　data　derive　map　together.　Finally,　a　reliable　3D　spatial　model　is　built　using　textures　extracted　from　images.　The　effectiveness　of　our　proposal　is　validated　by　real　experimental　results　carried　on　Pioneer　robot.　©　2011　IEEE.

关键词：

3D modeling Mobile robots Range finders Stereo image processing Stereo vision Textures Uncertainty analysis

作者机构：

[ 1 ] [Jia, Songmin]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing, China
[ 2 ] [Cui, Wei]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing, China
[ 3 ] [Li, Xiuzhi]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing, China
[ 4 ] [Shen, Hongmin]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing, China
[ 5 ] [Sheng, Jinbo]Hitachi, Ltd., Tokyo, Japan

通讯作者信息：

电子邮件地址：

jsm@bjut.edu.cn

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