Title :
Incremental creation of a 3D map with a stereocamera
Author :
Rozman, Jaroslav
Author_Institution :
Fac. of Inf. Technol., Brno Univ. of Technol., Brno, Czech Republic
fDate :
Nov. 29 2010-Dec. 1 2010
Abstract :
This paper describes a concept for the creation of a 3D model of the environment by a mobile robot. This technique is called SLAM-Simultaneous Localization and Mapping. In this case we use stereocamera to find the significant features by the SURF detector. The SURF detector will also serve for the matching of the correspondent points in the both images. These points will then be connected to the triangular mesh and displayed.
Keywords :
SLAM (robots); cameras; image matching; mesh generation; mobile robots; robot vision; solid modelling; stereo image processing; 3D map creation; 3D model; SLAM technique; SURF detector; mobile robot; simultaneous localization and mapping; stereo camera; triangular mesh; 3D triangulation; Delaunay triangulation; SLAM; SURF; stereocamera; stereomatching;
Conference_Titel :
Intelligent Systems Design and Applications (ISDA), 2010 10th International Conference on
Conference_Location :
Cairo
Print_ISBN :
978-1-4244-8134-7
DOI :
10.1109/ISDA.2010.5687155
