Title :
3D Terrain Reconstruction for Patrol Robot Using Point Grey Research Stereo Vision Cameras
Author :
Xing-Zhe, Xie ; Heng, Wang ; Ran, Liu ; Wen-Qiang, Xiang ; Ming, Jiang
Author_Institution :
Robot. Lab., Southwest Univ. of Sci. & Technol., Mianyang, China
Abstract :
This paper uses Bumblebee stereo vision system to reconstruct the 3D terrain for patrol robot. Firstly, with the selected points in the disparity image, the ground plane equation of the current frame is calculated by the RANSAC (Random Sample Consensus) algorithm, and then estimated and predicted by the Kalman filter. Secondly, the elevation image is obtained through the distance between the obstacle and the ground plane, which is calculated on basis of the formula from the point to the plane. Finally, the noise points in the elevation image are removed through erosion and dilation operations, and the location and size of obstacles are determined via the connected component analysis method. The actual test in substation environment verified the reliability of the system.
Keywords :
Kalman filters; cameras; erosion; image reconstruction; mobile robots; robot vision; solid modelling; stereo image processing; terrain mapping; 3D terrain reconstruction; Bumblebee stereo vision system; Kalman filter; RANSAC; connected component analysis method; dilation operations; elevation image; erosion; noise point; patrol robot; point grey research; random sample consensus; stereo vision camera; Cameras; Equations; Image reconstruction; Kalman filters; Mathematical model; Robots; Stereo vision; Kalman filter; RANSAC algorithm; connected component analysis; patrol robot;
Conference_Titel :
Artificial Intelligence and Computational Intelligence (AICI), 2010 International Conference on
Conference_Location :
Sanya
Print_ISBN :
978-1-4244-8432-4
DOI :
10.1109/AICI.2010.17
