Detail publikace

Path planning and traversable area marking for stereo vision-based 3D map building

ROZMAN, J. ZBOŘIL, F.

Originální název

Path planning and traversable area marking for stereo vision-based 3D map building

Typ

článek v časopise - ostatní, Jost

Jazyk

angličtina

Originální abstrakt

This paper deals with the path-planning of a robot during the exploration and 3D map building in the unknown environment. The robot uses a stereocamera for significant features detection, then matches them in both images and computes their 3D coordinates. This way the robot incrementally creates the 3D map of its surroundings and tries to explore as much area as possible. This paper describes the way of marking the traversable path in the map created so far and the path planning to the next explored goal point. As the map uses points and triangles to represent shape of the surface, the traversable area marking and the path planning is also done in the map which is represented in the same way.

Klíčová slova

path planning, stereocamera, visual SLAM, traversable area marking

Autoři

ROZMAN, J.; ZBOŘIL, F.

Rok RIV

2011

Vydáno

1. 12. 2011

ISSN

1752-914X

Periodikum

International Journal of Computational Vision and Robotics (IJCVR)

Ročník

2

Číslo

4

Stát

Indická republika

Strany od

277

Strany do

289

Strany počet

13

BibTex

@article{BUT91161,
  author="Jaroslav {Rozman} and František {Zbořil}",
  title="Path planning and traversable area marking for stereo vision-based 3D map building",
  journal="International Journal of Computational Vision and Robotics  (IJCVR)",
  year="2011",
  volume="2",
  number="4",
  pages="277--289",
  issn="1752-914X"
}