Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Real-time robot motion planning using rasterizing computer graphics hardware
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Improved Occupancy Grids for Map Building
Autonomous Robots
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Stereo Machine for Video-Rate Dense Depth Mapping and Its New Applications
CVPR '96 Proceedings of the 1996 Conference on Computer Vision and Pattern Recognition (CVPR '96)
Spinoza: A Stereoscopic Visually Guided Mobile Robot
HICSS '97 Proceedings of the 30th Hawaii International Conference on System Sciences: Advanced Technology Track - Volume 5
Active Appearance-Based Robot Localization Using Stereo Vision
Autonomous Robots
Traversable Region Modeling for Outdoor Navigation
Journal of Intelligent and Robotic Systems
Occupancy grids building by sonar and mobile robot
Robotics and Autonomous Systems
Autonomous robot motion in an unknown environment by local 3D elevation map construction
Integrated Computer-Aided Engineering - Informatics in Control, Automation and Robotics
Reverse Optical Flow for Self-Supervised Adaptive Autonomous Robot Navigation
International Journal of Computer Vision
Real-time disparity map computation module
Microprocessors & Microsystems
SETN '08 Proceedings of the 5th Hellenic conference on Artificial Intelligence: Theories, Models and Applications
Autonomous vision-based robotic exploration and mapping using hybrid maps and particle filters
Image and Vision Computing
Stereo vision specific models for particle filter-based SLAM
Robotics and Autonomous Systems
SLAM Estimation in Dynamic Outdoor Environments: A Review
ICIRA '09 Proceedings of the 2nd International Conference on Intelligent Robotics and Applications
Obtaining Reliable Depth Maps for Robotic Applications from a Quad-Camera System
ICIRA '09 Proceedings of the 2nd International Conference on Intelligent Robotics and Applications
B-spline modeling of road surfaces with an application to free-space estimation
IEEE Transactions on Intelligent Transportation Systems
Object recognition from omnidirectional visual sensing for mobile robot applications
SMC'09 Proceedings of the 2009 IEEE international conference on Systems, Man and Cybernetics
Drawing stereo disparity images into occupancy grids: measurement model and fast implementation
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Stereo vision for robotic applications in the presence of non-ideal lighting conditions
Image and Vision Computing
Robotics and Autonomous Systems
Visual search for an object in a 3D environment using a mobile robot
Computer Vision and Image Understanding
Towards optimal stereo analysis of image sequences
RobVis'08 Proceedings of the 2nd international conference on Robot vision
3D reconstruction using projection of virtual height line based on dynamic programming
CAR'10 Proceedings of the 2nd international Asia conference on Informatics in control, automation and robotics - Volume 2
FPGA based disparity map computation with vergence control
Microprocessors & Microsystems
A fast stereo matching algorithm suitable for embedded real-time systems
Computer Vision and Image Understanding
Modified region growing for stereo of slant and textureless surfaces
ISVC'10 Proceedings of the 6th international conference on Advances in visual computing - Volume Part I
Single camera stereo system using prism and mirrors
ISVC'10 Proceedings of the 6th international conference on Advances in visual computing - Volume Part II
Obstacle-Free Pathway Detection by Means of Depth Maps
Journal of Intelligent and Robotic Systems
Ground truth evaluation of stereo algorithms for real world applications
ACCV'10 Proceedings of the 2010 international conference on Computer vision - Volume part II
A real-time fuzzy hardware structure for disparity map computation
Journal of Real-Time Image Processing
Statistics of visual and partial depth data for mobile robot environment modeling
MICAI'06 Proceedings of the 5th Mexican international conference on Artificial Intelligence
A modified area based local stereo correspondence algorithm for occlusions
CIARP'05 Proceedings of the 10th Iberoamerican Congress conference on Progress in Pattern Recognition, Image Analysis and Applications
A characterization of 3d sensors for response robots
RoboCup 2009
Parallelization of Belief Propagation on Cell Processors for Stereo Vision
ACM Transactions on Embedded Computing Systems (TECS)
Burrow-centric distance-estimation methods inspired by surveillance behavior of fiddler crabs
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
FPGA-based module for SURF extraction
Machine Vision and Applications
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This paper describes a working vision-based mobile robot thatnavigates and autonomously explores its environment whilebuilding occupancy grid maps of the environment. We present amethod for reducing stereo vision disparity images totwo-dimensional map information. Stereo vision has severalattributes that set it apart from other sensorsmore commonly used for occupancy grid mapping. We discuss theseattributes, the errors that some of them create, andhow to overcome them. We reduce errors by segmentingdisparity images based on continuous disparity surfaces toreject “spikes” caused by stereo mismatches. Stereo visionprocessing and map updates are done at 5 Hz and the robotmoves at speeds of 300 cm/s.