NDLI: Discovering and mapping complete surfaces with stereo

Content Provider	IEEE Xplore Digital Library
Author	Shade, R. Newman, P.
Copyright Year	2010
Description	Author affiliation: Oxford University Mobile Robotics Group, USA (Shade, R.; Newman, P.)
Abstract	This paper is about the automated discovery and mapping of surfaces using a stereo pair. We begin with the observation that for any workspace which is topologically connected (i.e. does not contain free flying islands) there exists a single surface that covers the entirety of the workspace. We call this surface the covering surface. We assume that while this surface is complex and self intersecting every point on it can be imaged from a suitable camera pose and furthermore that it is locally smooth at some finite scale - it is a manifold. We show how by representing the covering surface as a non-planar graph of observed pixels we are able to plan new views and importantly fuse disparity maps from multiple views. The resulting graph can be lifted to 3D to yield a full scene reconstruction.
Starting Page	3910
Ending Page	3915
File Size	1582959
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509337
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Image edge detection Pixel Surface reconstruction Layout Image reconstruction Euclidean distance Mobile robots Clouds Robotics and automation
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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