Dense 3D map building for autonomous mobile robots

Young Geun Kim, Hakil Kim

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

5 Scopus citations

Abstract

Numerous approaches for vision-based navigation of mobile robots using depth maps are classified into two classes: The first class is to extract image features and to produce sparse depth maps, and the second class is based on correlation algorithms to produce depth maps. One of the problems of the first class is that it may not offer enough information of the scene for autonomous navigation. In this paper, we propose a method to build a 3-dimensional map, not a depth map, which can give 3D visual cues for autonomous navigation. The main purpose of the 3D map is not only to decrease computational time needed for building a depth map, but also to provide enough 3D information for autonomous navigation than a sparse map does. We demonstrate the procedure to build a 3D map and present that our method is appropriate for mobile robot navigation.

Original languageEnglish
Title of host publicationProceedings - 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation
Subtitle of host publicationComputational Intelligence in Robotics and Automation for the New Millennium
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages169-174
Number of pages6
ISBN (Electronic)0780378660
DOIs
StatePublished - 2003
Event2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2003 - Kobe, Japan
Duration: 16 Jul 200320 Jul 2003

Publication series

NameProceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA
Volume1

Conference

Conference2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2003
Country/TerritoryJapan
CityKobe
Period16/07/0320/07/03

Bibliographical note

Publisher Copyright:
© 2003 IEEE.

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