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3D modeling of real environments by autonomous mobile robot with stereo vision

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3 Author(s)
Futami, S. ; Dept. of Electron. Eng., Univ. of Electro-Commun., Tokyo, Japan ; Nagai, Takayuki ; Kurematsu, Akira

The concept of 3-dimensional (3D) modeling by an autonomous mobile robot is presented. The mobile robot is equipped with a stereo camera and explores an unknown environment autonomously. The robot also has encoders and sonars. Information from these sensors are used for 3D modeling, ego-motion, and searching new and unknown objects. The 3D modeling of real environments by a mobile robot is applicable to optimal path planning, object recognition, virtual reality (VR), and so on. A preliminary result of the 3D modeling is also shown.

Published in:

Image Processing. 2002. Proceedings. 2002 International Conference on  (Volume:1 )

Date of Conference:

2002

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