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Proceedings Paper

Continuous reconstruction of scene objects
Author(s): Steen Kristensen; Henrik I. Christensen
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Paper Abstract

In this paper we describe an approach to continuous scene modeling for an autonomous mobile robot navigation system operating in indoor environments. The continuous scene modeling is based on a cooperative sensor system that comprises two parts: binocular region based stereo, i.e., a passive depth extraction technique, and depth from focus, i.e., an active depth extraction technique. The region based stereo technique provides an overview of the scene aided by a 3D a priori world model. Since feature based stereo is vulnerable to occlusions, a depth from focus technique is selectively employed at locations where potential occlusions are detected in order to extract the correct depth. Scene maintenance over time is done by generation of expectation images, based on previously sensed scene objects, that are matched with images, recorded by the on-robot stereo camera head. This match allows for detection of previously undetected scene objects and for updating of already known scene objects. The operation of the system is demonstrated on an in-door image sequence.

Paper Details

Date Published: 20 August 1993
PDF: 10 pages
Proc. SPIE 2059, Sensor Fusion VI, (20 August 1993); doi: 10.1117/12.150262
Show Author Affiliations
Steen Kristensen, Aalborg Univ. (Denmark)
Henrik I. Christensen, Aalborg Univ. (Denmark)


Published in SPIE Proceedings Vol. 2059:
Sensor Fusion VI
Paul S. Schenker, Editor(s)

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