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Active controlled exploration of 3D environmental models based on a binocular stereo system

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2 Author(s)
Burschka, D. ; Lab. for Process Control & Real-Time, Tech. Univ. Munchen, Germany ; Farber, G.

This paper describes the exploration of indoor environments based on a binocular stereo system mounted on a mobile vehicle. It introduces the algorithms for the control of the vehicle and the camera mount depending on the explored and the a priori known information about the environment. The controlled vehicle does not follow a precompiled path but finds its goals depending on the perceived information. The resulting environmental model is stored in a multilayer map storing the three-dimensional boundary lines of the objects at their geometrical positions in the world. The line description in the model is adapted to meet the requirements of a successive exploration with a video camera

Published in:

Advanced Robotics, 1997. ICAR '97. Proceedings., 8th International Conference on

Date of Conference:

7-9 Jul 1997

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