Camera and LIDAR fusion for mapping of actively Illuminated subterranean voids

被引：0
|
作者：
Wong U. [1 ]
Garney B. [2 ]
Whittaker W. [1 ]
Whittaker R. [1 ]
机构：
[1] Robotics Institute, Carnegie Mellon University
来源：
Springer Tracts in Advanced Robotics | 2010年 / 62卷
关键词：
D O I：
10.1007/978-3-642-13408-1_38
中图分类号：
学科分类号：
摘要：
A method is developed that improves the accuracy of super-resolution range maps over interpolation by fusing actively illuminated HDR camera imagery with LIDAR data in dark subterranean environments. The key approach is shape recovery from estimation of the illumination function and integration in a Markov Random Field (MRF) framework. A virtual reconstruction using data collected from the Bruceton Research Mine is presented. © Springer-Verlag Berlin Heidelberg 2010.
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页码：421 / 430
页数：9
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