Title :
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
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;
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
DOI :
10.1109/ROMOCO.1999.791077
