DocumentCode :
2782937
Title :
Mobile robot 3D map building based on laser ranging and stereovision
Author :
Jia, Songmin ; Cui, Wei ; Li, Xiuzhi ; Shen, Hongmin ; Sheng, Jinbo
Author_Institution :
Coll. of Electron. Inf. & Control Eng., Beijing Univ. of Technol., Beijing, China
fYear :
2011
fDate :
7-10 Aug. 2011
Firstpage :
1774
Lastpage :
1779
Abstract :
In this paper, an effective 3D map building approach based on range data from binocular stereo vision sensor and Laser Range Finder is introduced in detail. First of all, a local map temporal integration approach in which Bayesian filter based dynamic occupancy grid map modeling technique is employed to reasonably deal with measurement uncertainty involved in environment perception. In addition, as stereo vision is unreliable for building map, an effective combination approach is proposed for fusing local stereo data derived map and laser range data derive map together. Finally, a reliable 3D spatial model is built using textures extracted from images. The effectiveness of our proposal is validated by real experimental results carried on Pioneer robot.
Keywords :
Bayes methods; feature extraction; filtering theory; image texture; laser ranging; measurement uncertainty; mobile robots; robot vision; stereo image processing; 3D map building; 3D spatial model; Bayesian filter; Pioneer robot; binocular stereo vision sensor; dynamic occupancy grid map modeling technique; environment perception; image texture extraction; laser range finder; laser ranging; local map temporal integration approach; measurement uncertainty; mobile robot; Bayesian methods; Buildings; Laser modes; Robot sensing systems; Stereo vision; Three dimensional displays; Bayesian rule; map building; mobile robot; stereovision;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Mechatronics and Automation (ICMA), 2011 International Conference on
Conference_Location :
Beijing
ISSN :
2152-7431
Print_ISBN :
978-1-4244-8113-2
Type :
conf
DOI :
10.1109/ICMA.2011.5986248
Filename :
5986248
Link To Document :
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