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Construction of 3 D Environment Model by an Omni-Directional Camera
| Content Provider | Semantic Scholar |
|---|---|
| Author | Kawanishi, Ryosuke Yamashita, Atsushi Kaneko, Toru |
| Copyright Year | 2008 |
| Abstract | Abstract Map information is important for path planning and self-localization when mobile robots accomplish autonomous tasks. In unknown environments, however, mobile robots should generate an environment map by themselves. We propose a method for 3D environment modeling by a mobile robot. A 3D environment model can be generaterd from the result of 3D measurement using image data. To realize a 3D measurement of objects more efficiently, the robot uses an image sequence acquired by an omni-directional camera which has a wide field of view. The measurement method is based on structure from motion (SFM). A triangular mesh is constructed from measurement data. Experimental results showed the effectiveness of the proposed method. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://www.robot.t.u-tokyo.ac.jp/~yamashita/paper/E/E107Final.pdf |
| Alternate Webpage(s) | http://sensor.eng.shizuoka.ac.jp/~yamasita/paper/E/E107Final.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
