NDLI: Construction of elevation map for user-carried outdoor mobile robot using stereo vision

Content Provider	IEEE Xplore Digital Library
Author	Kayama, K. Yairi, I.E. Igi, S.
Copyright Year	2003
Description	Author affiliation: Communications Res. Lab., Kanagawa, Japan (Kayama, K.; Yairi, I.E.; Igi, S.)
Abstract	The construction method of environment description using stereo camera is described in this paper. This method is for safety of user-carried semi-autonomous mobile robot in outdoor environment that contains steps and slopes. This method constructs environment map by using three-dimension occupancy grid. These grids are cuboids fine in height direction. Three-dimension flow is used for self-localization. The elevation map is constructed from the three-dimension occupancy grid, and the dangerous area is calculated from the elevation map. This make it enable to distinguish passable slopes and impassable steps. Moreover, this system is equipped for an outdoor semi-autonomous electric scooter and performed in real world.
Sponsorship	Syst., Man & Cybernetics Soc. IEEE
Starting Page	4631
Ending Page	4636
File Size	529942
Page Count	6
File Format	PDF
ISBN	0780379527
ISSN	1062922X
DOI	10.1109/ICSMC.2003.1245714
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-10-08
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Stereo vision Wheelchairs Intelligent robots Robot vision systems Cameras Sonar Laboratories Motorcycles Senior citizens
Content Type	Text
Resource Type	Article

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