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: Chapter in Book/Report/Conference proceedingConference contribution

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 ODVs 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 proposed omni-directional stereo vision has robustness toward environmental complication and accurate distance estimation performance for rich textured object.

Original languageEnglish
Title of host publicationProceedings of the 2006 IEEE International Conference on Control Applications
Pages1807-1812
Number of pages6
DOIs
Publication statusPublished - 2007
EventJoint 2006 IEEE Conference on Control Applications (CCA), Computer-Aided Control Systems Design Symposium (CACSD) and International Symposium on Intelligent Control (ISIC) - Munich, Germany
Duration: 2006 Oct 42006 Oct 6

Publication series

NameProceedings of the IEEE International Conference on Control Applications

Conference

ConferenceJoint 2006 IEEE Conference on Control Applications (CCA), Computer-Aided Control Systems Design Symposium (CACSD) and International Symposium on Intelligent Control (ISIC)
CountryGermany
CityMunich
Period06/10/406/10/6

ASJC Scopus subject areas

  • Engineering(all)

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