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

Koichiro Deguchi, Tomohiro Nakagawa

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

2 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 correct 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 publication2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages1692-1697
Number of pages6
Volume2
Publication statusPublished - 2004 Dec 1
Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
Duration: 2004 Sep 282004 Oct 2

Other

Other2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
CountryJapan
CitySendai
Period04/9/2804/10/2

ASJC Scopus subject areas

  • Engineering(all)

Fingerprint Dive into the research topics of 'Active and direct acquisition of 3D map in robot by combining motion and perceived images'. Together they form a unique fingerprint.

Cite this