3D reconstruction by a mobile robot using multi-baseline omni-directional motion stereo based on GPS/DR compound navigation system

Jun Ichi Meguro, Jun Ichi Takiguchi, Yoshiharu Amano, Takumi Hashizume

Research output: Contribution to conferencePaper

Abstract

In this paper, a unique dense 3D shape reconstruction method featuring GPS/DR coupled omni-direction multi-baseline motion stereo system is presented. The epipolar plane equation between two Omni Directional Vision images is computed from the GPS/DR s position and posture information. Then, the precise epipolar lines can be obtained robustly by projecting the intersection line between the epipolar plane and the ODV s image plane. The robust matching method featuring hybrid use of the future based matching and the area based matching, as well as the bi-directional matching which chose common mutual matching points to improve robustness is also presented. Voting process using multi-baseline is used to reduce distance error of motion stereo. Hundreds of dense range images are unified based on the precise position/posture information to generate the successive dense 3D outdoor model. The range estimation accuracy within 10 [m] area is 140 [mm], which is equal to a laser radar. It can be said that the propos d omni-directional stereo vision has robustness toward environmental complication and accurate distance estimation performance for rich textured object.

Original languageEnglish
Pages1807-1812
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 IEEE International Conference on Control Applications, CCA 2006 - Munich, Germany
Duration: 2006 Oct 42006 Oct 6

Conference

Conference2006 IEEE International Conference on Control Applications, CCA 2006
CountryGermany
CityMunich
Period06/10/406/10/6

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Mathematics(all)

Fingerprint Dive into the research topics of '3D reconstruction by a mobile robot using multi-baseline omni-directional motion stereo based on GPS/DR compound navigation system'. Together they form a unique fingerprint.

  • Cite this

    Meguro, J. I., Takiguchi, J. I., Amano, Y., & Hashizume, T. (2006). 3D reconstruction by a mobile robot using multi-baseline omni-directional motion stereo based on GPS/DR compound navigation system. 1807-1812. Paper presented at 2006 IEEE International Conference on Control Applications, CCA 2006, Munich, Germany. https://doi.org/10.1109/CACSD-CCA-ISIC.2006.4776915