Detail publikace

Multispectral Stereoscopic Robotic Head Calibration and Evaluation

ŽALUD, L. KOCMANOVÁ, P.

Originální název

Multispectral Stereoscopic Robotic Head Calibration and Evaluation

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

angličtina

Originální abstrakt

The aim of the paper is to describe the data-fusion from optical sensors for mobile robotics reconnaissance and mapping. Data are acquired by stereo pair of CCD cameras, stereo pair of thermal imagers, and TOF (time-of-flight) range camera. The described calibration and data-fusion algorithms may be used for two purposes: visual telepresence (remote control) under extremely wide variety of visual conditions, like fog, smoke, darkness, etc., and for multispectral autonomous digital mapping of the robot’s environment. The fusion is realized by means of spatial data from a TOF camera - the thermal and CCD camera data are comprised in one multispectral 3D model for mapping purposes or stereo image presented to a binocular, head-mounted display. The data acquisition is performed using a sensor head containing the mentioned 5 cameras, which is placed on 3 degrees-of-freedom (DOF) manipulator on Orpheus-X3 reconnaissance robot; both the head and the robot were developed by our working group.

Klíčová slova

Calibration, Multispectral fusion, Telepresence, Mobile robot

Autoři

ŽALUD, L.; KOCMANOVÁ, P.

Rok RIV

2015

Vydáno

12. 10. 2015

Nakladatel

Springer International Publishing

Místo

Switzerland

ISBN

978-3-319-22382-7

Kniha

Modelling and Simulation for Autonomous Systems

Strany od

173

Strany do

184

Strany počet

248

URL

http://www.springer.com/us/book/9783319223827?wt_mc=ThirdParty.SpringerLink.3.EPR653.About_eBook

BibTex

@inproceedings{BUT121055,
  author="Luděk {Žalud} and Petra {Kalvodová}",
  title="Multispectral Stereoscopic Robotic Head Calibration and Evaluation",
  booktitle="Modelling and Simulation for Autonomous Systems",
  year="2015",
  pages="173--184",
  publisher="Springer International Publishing",
  address="Switzerland",
  doi="10.1007/978-3-319-22383-4",
  isbn="978-3-319-22382-7",
  url="http://www.springer.com/us/book/9783319223827?wt_mc=ThirdParty.SpringerLink.3.EPR653.About_eBook"
}