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An overview of the advantages and constraints of coded pattern projection techniques for autonomous navigation

The absolute necessity of obtaining 3D information of structured and unknown environments in autonomous navigation reduce considerably the set of sensors that can be used. The necessity to know, at each time, the position of the mobile robot with respect to the scene is indispensable. Furthermore, this information must be obtained in the least computing time. Stereo vision is an attractive and widely used method, but, it is rather limited to make fast 3D surface maps, due to the correspondence problem. The spatial and temporal correspondence among images can be alleviated using a method based on structured light. This relationship can be directly found codifying the projected light; then each imaged region of the projected pattern carries the needed information to solve the correspondence problem. We present the most significant techniques, used in recent years, concerning the coded structured light method

© IEEE/RSJ International Conference on Intelligent Robots and Systems : 1997 : IROS ’97 : Proceedings, 1997, vol. 3, p. 1264-1271

IEEE

Author: Salvi, Joaquim
Mouaddib, El Mustapha
Batlle i Grabulosa, Joan
Date: 1997
Abstract: The absolute necessity of obtaining 3D information of structured and unknown environments in autonomous navigation reduce considerably the set of sensors that can be used. The necessity to know, at each time, the position of the mobile robot with respect to the scene is indispensable. Furthermore, this information must be obtained in the least computing time. Stereo vision is an attractive and widely used method, but, it is rather limited to make fast 3D surface maps, due to the correspondence problem. The spatial and temporal correspondence among images can be alleviated using a method based on structured light. This relationship can be directly found codifying the projected light; then each imaged region of the projected pattern carries the needed information to solve the correspondence problem. We present the most significant techniques, used in recent years, concerning the coded structured light method
Format: application/pdf
Citation: Salvi, J., Mouaddib, E., i Batile, J. (1997). An overview of the advantages and constraints of coded pattern projection techniques for autonomous navigation. IEEE/RSJ International Conference on Intelligent Robots and Systems : 1997 : IROS ’97 : Proceedings, 3, 1264-1271. Recuperat 01 maig 2010, a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=656407
ISBN: 0-7803-4119-8
Document access: http://hdl.handle.net/10256/2469
Language: eng
Publisher: IEEE
Collection: Reproducció digital del document publicat a: http://dx.doi.org/10.1109/IROS.1997.656407
Articles publicats (D-ATC)
Is part of: © IEEE/RSJ International Conference on Intelligent Robots and Systems : 1997 : IROS ’97 : Proceedings, 1997, vol. 3, p. 1264-1271
Rights: Tots els drets reservats
Subject: Imatges -- Processament
Robots mòbils
Visió per ordinador
Visualització tridimensional (Informàtica)
Computer vision
Image processing
Mobile robots
Three-dimensional display systems
Title: An overview of the advantages and constraints of coded pattern projection techniques for autonomous navigation
Type: info:eu-repo/semantics/article
Repository: DUGiDocs

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