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An Approach for 3D Reconstruction of Environment Using Stereo-Vision System

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3 Author(s)
Shrivasthava, P. ; Dept. of Mech. Eng., IIT Kharagpur, Kharagpur ; Vundavilli, P.R. ; Pratihar, D.K.

During locomotion, one of various important tasks, a biped robot has to perform is the identification of 3D environment. The present work addresses the problem of offline 3D reconstruction of the environment using a stereo-vision system. The developed stereo-vision system works based on the concept of an epipolar geometry. The mathematical model that interpolates 3D position of a point with the help of an observed 2D point by two cameras, has been utilized to extract and virtually reproduce the environment, such as a staircase, a sloping surface and a ditch surface. The extracted information from the vision module may be used to plan the path of the biped robot in the said environment.

Published in:

Industrial and Information Systems, 2008. ICIIS 2008. IEEE Region 10 and the Third international Conference on

Date of Conference:

8-10 Dec. 2008