3D modeling of real environments by autonomous mobile robot with stereo vision

Author

Futami, Satoslii ; Nagai, Takayuki ; Kurematsu, Akira

Author_Institution

Dept. of Electron. Eng., Univ. of Electro-Commun., Tokyo, Japan

Volume

1

fYear

2002

fDate

2002

Abstract

The concept of 3-dimensional (3D) modeling by an autonomous mobile robot is presented. The mobile robot is equipped with a stereo camera and explores an unknown environment autonomously. The robot also has encoders and sonars. Information from these sensors are used for 3D modeling, ego-motion, and searching new and unknown objects. The 3D modeling of real environments by a mobile robot is applicable to optimal path planning, object recognition, virtual reality (VR), and so on. A preliminary result of the 3D modeling is also shown.

Keywords

cameras; mobile robots; modelling; object recognition; path planning; robot vision; stereo image processing; virtual reality; 3-dimensional modeling; 3D modeling; autonomous mobile robot; ego-motion; mobile robot; object recognition; optimal path planning; real environments; sonar; stereo camera; stereo vision; virtual reality; Cameras; Charge coupled devices; Charge-coupled image sensors; Indoor environments; Mobile robots; Path planning; Robot vision systems; Robotics and automation; Stereo vision; Virtual reality;

fLanguage

English

Publisher

ieee

Conference_Titel

Image Processing. 2002. Proceedings. 2002 International Conference on

ISSN

1522-4880

Print_ISBN

0-7803-7622-6

Type

conf

DOI

10.1109/ICIP.2002.1038160

Filename

1038160