Integrating the whole cost-curve of stereo into occupancy grids

Martim Brandao, Ricardo Ferreira, Kenji Hashimoto, Jose Santos-Victor, Atsuo Takanishi

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    2 Citations (Scopus)

    Abstract

    Extensive literature has been written on occupancy grid mapping for different sensors. When stereo vision is applied to the occupancy grid framework it is common, however, to use sensor models that were originally conceived for other sensors such as sonar. Although sonar provides a distance to the nearest obstacle for several directions, stereo has confidence measures available for each distance along each direction. The common approach is to take the highest-confidence distance as the correct one, but such an approach disregards mismatch errors inherent to stereo. In this work, stereo confidence measures of the whole sensed space are explicitly integrated into 3D grids using a new occupancy grid formulation. Confidence measures themselves are used to model uncertainty and their parameters are computed automatically in a maximum likelihood approach. The proposed methodology was evaluated in both simulation and a real-world outdoor dataset which is publicly available. Mapping performance of our approach was compared with a traditional approach and shown to achieve less errors in the reconstruction.

    Original languageEnglish
    Title of host publicationIEEE International Conference on Intelligent Robots and Systems
    Pages4681-4686
    Number of pages6
    DOIs
    Publication statusPublished - 2013
    Event2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo
    Duration: 2013 Nov 32013 Nov 8

    Other

    Other2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
    CityTokyo
    Period13/11/313/11/8

    Fingerprint

    Sonar
    Sensors
    Costs
    Stereo vision
    Maximum likelihood
    Uncertainty

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Computer Vision and Pattern Recognition
    • Computer Science Applications

    Cite this

    Brandao, M., Ferreira, R., Hashimoto, K., Santos-Victor, J., & Takanishi, A. (2013). Integrating the whole cost-curve of stereo into occupancy grids. In IEEE International Conference on Intelligent Robots and Systems (pp. 4681-4686). [6697030] https://doi.org/10.1109/IROS.2013.6697030

    Integrating the whole cost-curve of stereo into occupancy grids. / Brandao, Martim; Ferreira, Ricardo; Hashimoto, Kenji; Santos-Victor, Jose; Takanishi, Atsuo.

    IEEE International Conference on Intelligent Robots and Systems. 2013. p. 4681-4686 6697030.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Brandao, M, Ferreira, R, Hashimoto, K, Santos-Victor, J & Takanishi, A 2013, Integrating the whole cost-curve of stereo into occupancy grids. in IEEE International Conference on Intelligent Robots and Systems., 6697030, pp. 4681-4686, 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013, Tokyo, 13/11/3. https://doi.org/10.1109/IROS.2013.6697030
    Brandao M, Ferreira R, Hashimoto K, Santos-Victor J, Takanishi A. Integrating the whole cost-curve of stereo into occupancy grids. In IEEE International Conference on Intelligent Robots and Systems. 2013. p. 4681-4686. 6697030 https://doi.org/10.1109/IROS.2013.6697030
    Brandao, Martim ; Ferreira, Ricardo ; Hashimoto, Kenji ; Santos-Victor, Jose ; Takanishi, Atsuo. / Integrating the whole cost-curve of stereo into occupancy grids. IEEE International Conference on Intelligent Robots and Systems. 2013. pp. 4681-4686
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