A Multiresolution Stereo Vision System for Mobile Robots
نویسندگان
چکیده
Realtime stereoscopic analysis is becoming a realty as microcomputer speeds increase. There are now opportunities for applying stereo ranging to problems in mobile robot navigation. We describe an implemented stereo system for robot map-making and localization, in which the main task is to put together a oor plan of the environment using data from a passive stereo head. We develop several techniques to make the stereo system usable for this task; the primary ones are a fast multiresolution method for extending the range of the stereo system, and an easy calibration method for setting and maintaining calibration. The resultant system has su cient accuracy, range, and robustness to extract oor plans as the robot navigates the environment.
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