Publication detail

Stereo Camera as a Complementary Sensor to LIDAR in Mobile Robot Mapping

VYROUBALOVA, J.

Original Title

Stereo Camera as a Complementary Sensor to LIDAR in Mobile Robot Mapping

Type

article in a collection out of WoS and Scopus

Language

English

Original Abstract

LIDAR (2D) has been widely used for mapping and navigation in mobile robotics. However, its usage is limited to simple environments. This problem can be solved by adding more sensors and processing these data together. This paper explores a method of how measurements from a stereo camera and LIDAR complement each other in dynamical mapping. An occupancy grid map from LIDAR data is used as a prerequisite and we describe how it could be extended by a 2D grid map from a stereo camera. This approach is based on the ground plane estimation in disparity map acquired from the stereo vision. For ground plane detection, RANSAC and Least Squares methods are used. After obstacles determination, 2D occupancy map is generated for future fusion with complementary 2D LIDAR map. Experimental results obtained from Willow Garage Stereo and Hokuyo UTM-30LX Laser are good enough to determine that this method is a benefit, although my implementation is still a prototype. In this paper, we present the applied methods, analyze the results and discuss the modifications and possible extensions to get better results.

Keywords

LIDAR, stereo camera, mapping, least squares plane, sensors fusion, disparity map, ground plane detection

Authors

VYROUBALOVA, J.

Released

25. 4. 2023

Publisher

Brno University of Technology, Faculty of Electrical Engineering and Communication

Location

Brno

ISBN

978-80-214-6153-6

Book

Proceedings I of the 29th Student EEICT 2023 General Papers

Edition

1

Pages from

357

Pages to

363

Pages count

7

URL

https://www.eeict.cz/eeict_download/archiv/sborniky/EEICT_2023_sbornik_1.pdf

BibTex

@inproceedings{BUT183500,
  author="Jana {Vyroubalová}",
  title="Stereo Camera as a Complementary Sensor to LIDAR in Mobile Robot Mapping",
  booktitle="Proceedings I of the 29th Student EEICT 2023 General Papers",
  year="2023",
  series="1",
  pages="357--363",
  publisher="Brno University of Technology, Faculty of Electrical Engineering and Communication",
  address="Brno",
  isbn="978-80-214-6153-6",
  url="https://www.eeict.cz/eeict_download/archiv/sborniky/EEICT_2023_sbornik_1.pdf"
}