By Topic

A global 3D map-building approach using stereo vision

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Saez, J.M. ; Dept. de Ciencia de la Comput. e Inteligencia Artificial, Alicante Univ., Spain ; Escolano, F.

We present a stereo-based approach for building 3D maps. First, the best local alignment between successive point clouds is computed by a fast ego-motion/action-estimation algorithm which relies on an incremental matches filtering process followed by energy minimization. Then, a quasi-random updating algorithm, a kind of multi-view ICP, minimizes the global inconsistency of the map. Such an inconsistency is defined in terms of the sum of local inconsistencies and an additional entropy-based regularization term which is effective in plane-parallel environments. For the sake of efficiency, we assume a flat floor and a fixed stereo camera mounted on the robot. We have successfully tested the approach by performing several indoor mapping experiments.

Published in:

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on  (Volume:2 )

Date of Conference:

April 26 2004-May 1 2004