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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Grandjean, P. Robert De Saint Vincent, A. |
| Copyright Year | 1989 |
| Description | Author affiliation: LAAS, Toulouse, France (Grandjean, P.; Robert De Saint Vincent, A.) |
| Abstract | The authors present a method that merges and fuses two kinds of 3-D data, surface data obtained with a laser rangefinder and photometric data produced by a stereovision system. It describes indoor scenes with a set of planar faces, a first step toward polyhedral modeling. Noisy geometrical features are represented by random variables whose variance is known. Extended Kalman filtering techniques are used for numeric fusion of features into higher level ones (from points or pixels to 3-D lines, from 3-D lines to planes) and for identification of the transformation linking the sensors' reference frames (calibration). This latter issue receives particular attention, and a methodology is presented for iterative and automatic relative calibration. Experimental results show that this description is sufficiently accurate and reliable for feeding higher level processes, such as mobile robot localization or scene interpretation. |
| Starting Page | 681 |
| Ending Page | 687 |
| File Size | 550534 |
| Page Count | 7 |
| File Format | |
| ISBN | 0818619384 |
| DOI | 10.1109/ROBOT.1989.100063 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1989-05-14 |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Three dimensional displays Layout Calibration Fuses Surface emitting lasers Laser fusion Laser modes Photometry Random variables Kalman filters |
| Content Type | Text |
| Resource Type | Article |
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