Title :
Low-cost 3D scene reconstruction for response robots in real-time
Author :
Tran, Jimmy ; Ufkes, Alex ; Fiala, Mark ; Ferworn, Alexander
Author_Institution :
Ryerson Univ., Toronto, ON, Canada
Abstract :
In this paper we discuss several methods for the creation of 3D models that can provide additional information to robot operators in order to improve their situation awareness of the robot being teleoperated. We derive the 3D models from spatial data gathered from an inexpensive, readily available, video game sensor. In addition, the paper introduces a new method for feature extraction as part of image registration in feature-sparse environments that operates in real-time.
Keywords :
feature extraction; image reconstruction; image registration; mobile robots; robot vision; telerobotics; 3D model; 3D scene reconstruction; feature extraction; image registration; response robots; situation awareness; teleoperation; video game sensor; Cameras; Feature extraction; Humans; Robot sensing systems; Solid modeling; Three dimensional displays; 3D model; 3D reconstruction; Realtime; Response; Robot;
Conference_Titel :
Safety, Security, and Rescue Robotics (SSRR), 2011 IEEE International Symposium on
Conference_Location :
Kyoto
Print_ISBN :
978-1-61284-770-2
DOI :
10.1109/SSRR.2011.6106780
