The paper deals with the problem of the definition and the automatic construction of a 3D elevation map, reporting the presence and the highness of obstacles in an unknown, unstructured and stationary environment, built on the basis of images taken by a dual cameras Stereovision system mounted on a mobile robot. An algorithm for building and updating the map is proposed and its effectiveness versus simple intuitive solution is evidenced. Some experimental results are reported to validate such an approach.
Dynamical Reconstruction of a 3D Elevation Map Using Stereovision from a Mobile Robot / DI GIAMBERARDINO, Paolo; A., Usai. - STAMPA. - (2005), pp. 398-403. (Intervento presentato al convegno 24th IASTED Int. Conf. on Modelling, Identification and Control tenutosi a Innsbruck; Austria nel 16-18 Febbraio 2005).
Dynamical Reconstruction of a 3D Elevation Map Using Stereovision from a Mobile Robot
DI GIAMBERARDINO, Paolo;
2005
Abstract
The paper deals with the problem of the definition and the automatic construction of a 3D elevation map, reporting the presence and the highness of obstacles in an unknown, unstructured and stationary environment, built on the basis of images taken by a dual cameras Stereovision system mounted on a mobile robot. An algorithm for building and updating the map is proposed and its effectiveness versus simple intuitive solution is evidenced. Some experimental results are reported to validate such an approach.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
