Online dense local 3D world reconstruction from stereo image sequences

被引：5
|
作者：
Kagami, S
Takaoka, Y
Kida, Y
Nishiwaki, K
Kanade, T
机构：
来源：
2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 | 2005年
关键词：
reconstruction; stereo image sequence; visual odometory; humanoid robot;
D O I：
10.1109/IROS.2005.1545432
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper describes an online 3D reconstruction system from stereo image sequences to obtain a dense local world model for robot navigation. Proposed method consists of three components: 1) stereo depth map calculation, 2) correspondence calculation in time sequential images by tracking raw image features, 3) 6DOF camera motion estimation by RANSAC and integrate depth map into 3D reconstructed model. We examined and evaluated our method in motion capture environment for comparison. Finally experimental results by humanoid robot H7 is denoted.
引用
收藏
页码：2999 / 3004
页数：6
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