具有视野和范围的三维结构估算和规划

Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI:10.1109/CDC.2000.914181

Li Zhang, B. Ghosh

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引用次数: 0

摘要

提出了一种三维结构估计方法。该方法的独特之处在于融合了视觉和二维距离，这是移动机器人常用的传感器组合。二维距离信息可用于三维结构的假设、特征关联和提高估计精度。这些问题仅凭视觉很难解决。该方法将有利于移动机器人的三维地图构建。实验结果验证了该方法的有效性。

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Three dimensional structure estimation and planning with vision and range

A 3D structure estimation approach is proposed. The uniqueness of the approach lies in the fusion of vision and 2D range, which is a common sensor combination for mobile robots. 2D range information can be used for hypothesizing 3D structures, feature association, and improving the estimate accuracy. These problems are difficult to solve if using only vision. The proposed approach will be beneficial to 3D map building in mobile robots. Experimental results validate the effectiveness of the approach.

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Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)

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