Title :
Three dimensional structure estimation and planning with vision and range
Author :
Zhang, Li ; Ghosh, Bijoy K.
Author_Institution :
Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA
Abstract :
A 3D structure estimation approach is proposed. The uniqueness of the approach lies in the fusion of vision and 2D range, which is a common sensor combination for mobile robots. 2D range information can be used for hypothesizing 3D structures, feature association, and improving the estimate accuracy. These problems are difficult to solve if using only vision. The proposed approach will be beneficial to 3D map building in mobile robots. Experimental results validate the effectiveness of the approach
Keywords :
Kalman filters; distance measurement; filtering theory; image sequences; mobile robots; nonlinear filters; path planning; robot vision; sensor fusion; 2D range; 3D map building; 3D structure estimation; feature association; vision; Buildings; Cameras; Charge coupled devices; Charge-coupled image sensors; Machine vision; Mobile robots; Robot vision systems; Sensor fusion; Shape; Stereo vision;
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2000.914181
