DocumentCode
2701238
Title
Low-cost 3D scene reconstruction for response robots in real-time
Author
Tran, Jimmy ; Ufkes, Alex ; Fiala, Mark ; Ferworn, Alexander
Author_Institution
Ryerson Univ., Toronto, ON, Canada
fYear
2011
fDate
1-5 Nov. 2011
Firstpage
161
Lastpage
166
Abstract
In this paper we discuss several methods for the creation of 3D models that can provide additional information to robot operators in order to improve their situation awareness of the robot being teleoperated. We derive the 3D models from spatial data gathered from an inexpensive, readily available, video game sensor. In addition, the paper introduces a new method for feature extraction as part of image registration in feature-sparse environments that operates in real-time.
Keywords
feature extraction; image reconstruction; image registration; mobile robots; robot vision; telerobotics; 3D model; 3D scene reconstruction; feature extraction; image registration; response robots; situation awareness; teleoperation; video game sensor; Cameras; Feature extraction; Humans; Robot sensing systems; Solid modeling; Three dimensional displays; 3D model; 3D reconstruction; Realtime; Response; Robot;
fLanguage
English
Publisher
ieee
Conference_Titel
Safety, Security, and Rescue Robotics (SSRR), 2011 IEEE International Symposium on
Conference_Location
Kyoto
Print_ISBN
978-1-61284-770-2
Type
conf
DOI
10.1109/SSRR.2011.6106780
Filename
6106780
Link To Document