Active acquisition of 3D map in robot brain by combining motion and perceived images

Koichiro Deguchi, Tomohiro Nakagawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

In this paper, we propose an active vision strategy for the construction of a 3D map in a robot brain from its stereo eye images. We show that, by the direct combination of its action and image change caused by the action, the robot can acquires a 3D accurate map in his brain. If the robot stereo cameras and his motion parameters have been calibrated, the obtained reconstruction of the static scene stays stationary. But, if not, the reconstructed scene changes according to the robot action. We utilise this change to modify the robot parameters so as to obtain stationary scene in his 3D map under the action. We show the feasibility of this idea as an auto-calibration of robot vision with some simulation experiments and implementation on actual robots.

Original languageEnglish
Title of host publicationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Pages386-395
Number of pages10
DOIs
Publication statusPublished - 2005 Dec 1
Event1st International Symposium on Brain, Vision, and Artificial Intelligence, BVAI 2005 - Naples, Italy
Duration: 2005 Oct 192005 Oct 21

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume3704 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other1st International Symposium on Brain, Vision, and Artificial Intelligence, BVAI 2005
CountryItaly
CityNaples
Period05/10/1905/10/21

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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  • Cite this

    Deguchi, K., & Nakagawa, T. (2005). Active acquisition of 3D map in robot brain by combining motion and perceived images. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (pp. 386-395). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 3704 LNCS). https://doi.org/10.1007/11565123_37