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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

Author: Salvi Mas, Joaquim
Mouaddib, El Mustapha
Batlle i Grabulosa, Joan
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
Document access: http://hdl.handle.net/2072/63026
Language: eng
Publisher: IEEE
Rights: Tots els drets reservats
Subject: Imatges -- Processament
Robots m貌bils
Visi贸 per ordinador
Visualitzaci贸 tridimensional (Inform脿tica)
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: Recercat

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