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

    研究成果: Conference contribution

    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.

    元の言語English
    ホスト出版物のタイトルProceedings of the IEEE International Conference on Control Applications
    ページ1807-1812
    ページ数6
    DOI
    出版物ステータスPublished - 2006
    イベント2006 IEEE International Conference on Control Applications, CCA 2006 - Munich
    継続期間: 2006 10 42006 10 6

    Other

    Other2006 IEEE International Conference on Control Applications, CCA 2006
    Munich
    期間06/10/406/10/6

    Fingerprint

    3D Reconstruction
    Navigation System
    Navigation systems
    Omnidirectional Vision
    Mobile Robot
    Mobile robots
    Global positioning system
    Baseline
    Stereo vision
    Motion
    Optical radar
    Robustness
    Laser Radar
    Shape Reconstruction
    Range Image
    Stereo Vision
    3D shape
    Line
    Complications
    Hybrid Method

    ASJC Scopus subject areas

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

    これを引用

    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. : Proceedings of the IEEE International Conference on Control Applications (pp. 1807-1812). [4776915] https://doi.org/10.1109/CACSD-CCA-ISIC.2006.4776915

    3D reconstruction by a mobile robot using multi-baseline omni-directional motion stereo based on GPS/DR compound navigation system. / Meguro, Jun Ichi; Takiguchi, Jun Ichi; Amano, Yoshiharu; Hashizume, Takumi.

    Proceedings of the IEEE International Conference on Control Applications. 2006. p. 1807-1812 4776915.

    研究成果: Conference contribution

    Meguro, JI, Takiguchi, JI, 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. : Proceedings of the IEEE International Conference on Control Applications., 4776915, pp. 1807-1812, 2006 IEEE International Conference on Control Applications, CCA 2006, Munich, 06/10/4. https://doi.org/10.1109/CACSD-CCA-ISIC.2006.4776915
    Meguro JI, Takiguchi JI, Amano Y, Hashizume T. 3D reconstruction by a mobile robot using multi-baseline omni-directional motion stereo based on GPS/DR compound navigation system. : Proceedings of the IEEE International Conference on Control Applications. 2006. p. 1807-1812. 4776915 https://doi.org/10.1109/CACSD-CCA-ISIC.2006.4776915
    Meguro, Jun Ichi ; Takiguchi, Jun Ichi ; Amano, Yoshiharu ; Hashizume, Takumi. / 3D reconstruction by a mobile robot using multi-baseline omni-directional motion stereo based on GPS/DR compound navigation system. Proceedings of the IEEE International Conference on Control Applications. 2006. pp. 1807-1812
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