3-D modelling and robot localization from visual and range data in natural scenes

Carlos Parra, Rafael Murrieta-Cid, Michel Devy, Maurice Briot

Producción: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

23 Citas (Scopus)

Resumen

This paper concerns the exploration of a natural environment by a mobile robot equipped with both a video camera and a range sensor (stereo or laser range finder); we focus on the interest of such a multisensory system to deal with the incremental construction of a global model of the environment and with the 3-D localization of the mobile robot. The 3-D segmentation of the range data provides a geometrical scene description: the regions issued from the segmentation step correspond either to the ground or to objects emerging from this ground (e.g. rocks, vegetations). The 3D boundaries of these regions can be projected on the video image, so that each one can be characterized and after-wards identified, by a probabilistic method, to obtain its nature (e.g. soil, rocks… ); the ground region can be over-segmented, adding visual information, such as the texture. During the robot motions, a slow and a fast processes are simultaneously executed; in the modelling process (currently 0.1Hz), a global landmark-based model is incrementally built and the robot situation can be estimated if some discriminant landmarks are selected from the detected objects in the range data; in the tracking process (currently 1Hz), selected landmarks are tracked in the visual data. The tracking results are used to simplify the matching between landmarks in the modelling process.

Idioma originalInglés
Título de la publicación alojadaComputer Vision Systems - 1st International Conference, ICVS 1999, Proceedings
EditoresHenrik I. Christensen
EditorialSpringer Verlag
Páginas450-468
Número de páginas19
ISBN (versión impresa)3540654593, 9783540654599
DOI
EstadoPublicada - 1999
Publicado de forma externa
Evento1st International Conference on Computer Vision Systems, ICVS 1999 - Las Palmas, Espana
Duración: 13 ene. 199915 ene. 1999

Serie de la publicación

NombreLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volumen1542
ISSN (versión impresa)0302-9743
ISSN (versión digital)1611-3349

Conferencia

Conferencia1st International Conference on Computer Vision Systems, ICVS 1999
País/TerritorioEspana
CiudadLas Palmas
Período13/01/9915/01/99

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