{"title":"利用反射式相机对移动机器人进行实时三维重建","authors":"R. Rossi, X. Savatier, J. Ertaud, B. Mazari","doi":"10.1109/ROSE.2009.5355981","DOIUrl":null,"url":null,"abstract":"This paper presents a 3-second 3D reconstruction algorithm able to process a dense geometric approximation of the surrounding environment. Image acquisition is done by a stereoscopic panoramic system with two color catadioptric cameras mounted on a mobile robot. An algorithm running on a Graphical Processing Unit (GPU) processes the 3D reconstruction in real-time. As the camera system moves, new views of the scene are used to improve the model of the scene thanks to an incremental algorithm. Then, the performance of our approach is evaluated using a synthetic image sequence.","PeriodicalId":107220,"journal":{"name":"2009 IEEE International Workshop on Robotic and Sensors Environments","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2009-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"8","resultStr":"{\"title\":\"Real-time 3D reconstruction for mobile robot using catadioptric cameras\",\"authors\":\"R. Rossi, X. Savatier, J. Ertaud, B. Mazari\",\"doi\":\"10.1109/ROSE.2009.5355981\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents a 3-second 3D reconstruction algorithm able to process a dense geometric approximation of the surrounding environment. Image acquisition is done by a stereoscopic panoramic system with two color catadioptric cameras mounted on a mobile robot. An algorithm running on a Graphical Processing Unit (GPU) processes the 3D reconstruction in real-time. As the camera system moves, new views of the scene are used to improve the model of the scene thanks to an incremental algorithm. Then, the performance of our approach is evaluated using a synthetic image sequence.\",\"PeriodicalId\":107220,\"journal\":{\"name\":\"2009 IEEE International Workshop on Robotic and Sensors Environments\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2009-12-18\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"8\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2009 IEEE International Workshop on Robotic and Sensors Environments\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROSE.2009.5355981\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2009 IEEE International Workshop on Robotic and Sensors Environments","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROSE.2009.5355981","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Real-time 3D reconstruction for mobile robot using catadioptric cameras
This paper presents a 3-second 3D reconstruction algorithm able to process a dense geometric approximation of the surrounding environment. Image acquisition is done by a stereoscopic panoramic system with two color catadioptric cameras mounted on a mobile robot. An algorithm running on a Graphical Processing Unit (GPU) processes the 3D reconstruction in real-time. As the camera system moves, new views of the scene are used to improve the model of the scene thanks to an incremental algorithm. Then, the performance of our approach is evaluated using a synthetic image sequence.
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