NDLI: Robust ground surface map generation using vehicle-mounted stereo camera

Content Provider	IEEE Xplore Digital Library
Author	Motooka, K. Sugimoto, S. Okutomi, M. Shima, T.
Copyright Year	2014
Description	Author affiliation: Hitachi Res. Lab., Hitachi Ltd. Omikacho, Hitachi, Japan (Shima, T.) \|\| Dept. of Mech. & Control Eng., Tokyo Inst. of Technol., Tokyo, Japan (Motooka, K.; Sugimoto, S.; Okutomi, M.)
Abstract	We propose a robust method for incrementally estimating a regular-grid ground surface map from stereo image sequences captured by nearly front-looking vehicle-mounted stereo cameras. The method simultaneously estimates a camera ego-motion and vertex heights of a regular mesh, which is composed of piecewise triangular patches drawn on a level plane in the ground coordinate system, by minimizing pixel value differences over the ground surface. The method combinationally uses feature-based approach and pixel-based approach for robustly estimating ego-motion parameters. We also show that this combination is beneficial for removing outlier pixels, which mainly represent the edge of the self-shadow area on the ground surface. The validity of the proposed method is demonstrated through experiments using real images.
Starting Page	2741
Ending Page	2748
File Size	4097259
Page Count	8
File Format	PDF
e-ISBN	9781479969340
DOI	10.1109/IROS.2014.6942937
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-09-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Estimation Three-dimensional displays Robustness Mobile robots Image sequences Surface texture
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
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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