A multi-configuration stereoscopic vision system for domestic mobile robot localization

Author

Loaiza, H. ; Triboulet, J. ; Lelandais, S. ; Chavand, F. ; Artigue, F.

Author_Institution

Evry Univ., France

fYear

1999

fDate

29-29 June 1999

Firstpage

207

Lastpage

212

Abstract

A multi-configuration stereoscopic vision-system is described. We present the mechanical and electronic features of the stereoscopic head together with the hardware. We describe the methods of image processing implemented for overcoming the optical quality drawback of the low-cost CCD mini-cameras. Algorithms and results for the high-level image representation and 3D reconstruction are presented. The structural characteristics, the low-cost and the precision of the stereo system built, allow its utilisation in domestic mobile robotic applications.

Keywords

edge detection; image reconstruction; image representation; image segmentation; image sensors; mobile robots; path planning; robot vision; stereo image processing; 3D reconstruction; domestic mobile robot localization; electronic feature; high-level image representation; mechanical features; multi-configuration stereoscopic vision system; structural characteristics; Calibration; Cameras; Consumer electronics; Costs; Hardware; Image reconstruction; Machine vision; Magnetic heads; Mobile robots; Robot vision systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Robot Motion and Control, 1999. RoMoCo '99. Proceedings of the First Workshop on

Conference_Location

Kiekrz, Poland

Print_ISBN

0-7803-5655-1

Type

conf

DOI

10.1109/ROMOCO.1999.791077

Filename

791077