NDLI: Integrating the whole cost-curve of stereo into occupancy grids

Content Provider	IEEE Xplore Digital Library
Author	Brandao, M. Ferreira, R. Hashimoto, K. Santos-Victor, J. Takanishi, A.
Copyright Year	2013
Description	Author affiliation: Fac. of Sci. & Eng., Waseda Univ., Tokyo, Japan (Ferreira, R.) \|\| Grad. Sch. of Advanved Sci. & Eng., Waseda Univ., Tokyo, Japan (Brandao, M.) \|\| Inst. for Syst. & Robot., Inst. Super. Tecnico, Lisbon, Portugal (Santos-Victor, J.; Takanishi, A.) \|\| Dept. of Modern Mech. Eng., Waseda Univ., Tokyo, Japan (Hashimoto, K.)
Abstract	Extensive literature has been written on occupancy grid mapping for different sensors. When stereo vision is applied to the occupancy grid framework it is common, however, to use sensor models that were originally conceived for other sensors such as sonar. Although sonar provides a distance to the nearest obstacle for several directions, stereo has confidence measures available for each distance along each direction. The common approach is to take the highest-confidence distance as the correct one, but such an approach disregards mismatch errors inherent to stereo. In this work, stereo confidence measures of the whole sensed space are explicitly integrated into 3D grids using a new occupancy grid formulation. Confidence measures themselves are used to model uncertainty and their parameters are computed automatically in a maximum likelihood approach. The proposed methodology was evaluated in both simulation and a real-world outdoor dataset which is publicly available. Mapping performance of our approach was compared with a traditional approach and shown to achieve less errors in the reconstruction.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	4681
Ending Page	4686
File Size	1847726
Page Count	6
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6697030
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Sensors Computational modeling Uncertainty Image reconstruction Indexes Mathematical model Stereo vision
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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