Three-dimenisonal monocular scene reconstruction for service-robots - an application

This paper presents an image based three dimensional reconstruction system for service-robot applications in case of daily table scenarios. Image driven environment perception is one of the main research topics in the field of autonomous robot applications and fundamental for further action-plannings like three dimensional collision detection and prevention for grasping tasks. Perception will be done at two spatial-temporal varying positions by a micro-head camera mounted on a six-degree-of-freedom robot-arm of our mobile service-robot TASER. The epipolar geometry and fundamentalmatrix will be computed by preliminary extracted corners of both input images detected by a Harris-cornerdetector. The input images will be rectified using the fundamentalmatrix to align corresponding scanlines together on the same vertical image coordinates. Afterwards a stereo correspondence is accomplished by a fast Birchfield algorithm that provides a 2.5 dimensional depth map of the scene. Based on the depth map a three dimensional textured point-cloud is represented as interactive OpenGL scene model for further actionplanning algorithms in three dimensional space.