Robot spatial perception by stereoscopic vision and 3d evidence grids

Abstract
Very encouraging results have been obtained from a new program that derives a dense three-dimensional evidence grid representation of a robot's surroundings from wide-angle stereoscopic images. The pro gram adds several spatial rays of evidence to a grid for each of about 2,500 local image features chosen per stereo pair. It was used to construct a 256x256x64 grid, representing 6 by 6 by 2 meters, from a hand- collected test set of twenty stereo image pairs of an office scene. Fifty nine stereo pairs of an 8 by 8 meter laboratory were also processed. The positive (probably occupied) cells of the grids, viewed in perspec tive, resemble dollhouse scenes. Details as small as the curvature of chair armrests are discernible. The processing time, on a 100 MIPS Sparc 20, is less than five seconds per stereo pair, and total memory is under 16 megabytes. The results seem abundantly adequate for very reliable navigation of freely roaming mobile robots, and plausibly adequate for shape identification of objects bigger than 10 centimeters. The program is a first proof of concept, and awaits optimizations, enhancements, variations, extensions and applications.
Keywords No keywords specified (fix it)
Categories (categorize this paper)
Options
 Save to my reading list
Follow the author(s)
My bibliography
Export citation
Find it on Scholar
Edit this record
Mark as duplicate
Revision history Request removal from index
 
Download options
PhilPapers Archive


Upload a copy of this paper     Check publisher's policy on self-archival     Papers currently archived: 10,350
External links
Setup an account with your affiliations in order to access resources via your University's proxy server
Configure custom proxy (use this if your affiliation does not provide a proxy)
Through your library
References found in this work BETA

No references found.

Citations of this work BETA

No citations found.

Similar books and articles
Analytics

Monthly downloads

Added to index

2009-01-28

Total downloads

9 ( #152,628 of 1,096,702 )

Recent downloads (6 months)

1 ( #271,187 of 1,096,702 )

How can I increase my downloads?

My notes
Sign in to use this feature


Discussion
Start a new thread
Order:
There  are no threads in this forum
Nothing in this forum yet.