High dynamic range stereo vision for outdoor mobile robotics

Authors:
Stefan Hrabar;Peter Corke;Michael Bosse
Affiliations:
CSIRO ICT, Centre Autonomous Systmes Lab, Brisbane, Australia;CSIRO ICT, Centre Autonomous Systmes Lab, Brisbane, Australia;CSIRO ICT, Centre Autonomous Systmes Lab, Brisbane, Australia
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

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Abstract

We present a technique for high-dynamic range stereo for outdoor mobile robot applications. Stereo pairs are captured at a number of different exposures (exposure bracketing), and combined by projecting the 3D points into a common coordinate frame, and building a 3D occupancy map. We present experimental results for static scenes with constant and dynamic lighting as well as outdoor operation with variable and high contrast lighting conditions.