Construction of 3 D Environment Model by Using Omni - Directional Camera – Estimation of Camera Motion with a Feature Flow Model –
نویسندگان
چکیده
Map information is important for path planning and self-localization when mobile robots accomplish autonomous tasks. In unknown environments, mobile robots should generate an environment map by themselves. Then, we propose a method for construction of the 3D environment model by a mobile robot. The method is based on structure from motion. We use a single omni-directional camera to measure the objects in the environment. The method estimates the camera motion with a feature flow model. The model makes it possible to estimate the camera motion precisely by taking advantage of the wide field of view of the omni-directional camera. Experimental results showed the effectiveness of the proposed method.
منابع مشابه
Construction of 3D Environment Model by an Omni-Directional Camera
Abstract Map information is important for path planning and self-localization when mobile robots accomplish autonomous tasks. In unknown environments, however, mobile robots should generate an environment map by themselves. We propose a method for 3D environment modeling by a mobile robot. A 3D environment model can be generaterd from the result of 3D measurement using image data. To realize a ...
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