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

Koichiro Deguchi, Tomohiro Nakagawa

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
ページ1692-1697
ページ数6
2
出版ステータスPublished - 2004 12 1
イベント2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
継続期間: 2004 9 282004 10 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)

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