DocumentCode
2062506
Title
Incremental creation of a 3D map with a stereocamera
Author
Rozman, Jaroslav
Author_Institution
Fac. of Inf. Technol., Brno Univ. of Technol., Brno, Czech Republic
fYear
2010
fDate
Nov. 29 2010-Dec. 1 2010
Firstpage
861
Lastpage
865
Abstract
This paper describes a concept for the creation of a 3D model of the environment by a mobile robot. This technique is called SLAM-Simultaneous Localization and Mapping. In this case we use stereocamera to find the significant features by the SURF detector. The SURF detector will also serve for the matching of the correspondent points in the both images. These points will then be connected to the triangular mesh and displayed.
Keywords
SLAM (robots); cameras; image matching; mesh generation; mobile robots; robot vision; solid modelling; stereo image processing; 3D map creation; 3D model; SLAM technique; SURF detector; mobile robot; simultaneous localization and mapping; stereo camera; triangular mesh; 3D triangulation; Delaunay triangulation; SLAM; SURF; stereocamera; stereomatching;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Systems Design and Applications (ISDA), 2010 10th International Conference on
Conference_Location
Cairo
Print_ISBN
978-1-4244-8134-7
Type
conf
DOI
10.1109/ISDA.2010.5687155
Filename
5687155
Link To Document