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

*この研究の対応する著者

研究成果査読

抄録

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.

本文言語English
ページ1807-1812
ページ数6
DOI
出版ステータスPublished - 2006 12 1
イベント2006 IEEE International Conference on Control Applications, CCA 2006 - Munich, Germany
継続期間: 2006 10 42006 10 6

Conference

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • 数学 (全般)

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