期刊論文
| 學年 | 109 |
|---|---|
| 學期 | 1 |
| 出版（發表）日期 | 2020-11-13 |
| 作品名稱 | Autonomous Indoor Passageway Finding Using 3D Scene Reconstruction with Stereo Vision |
| 作品名稱（其他語言） | |
| 著者 | FU-YUEN HSIAO; PO-YI LEE |
| 單位 | |
| 出版者 | |
| 著錄名稱、卷期、頁數 | Journal of Aeronautics Astronautics and Aviation 52(4), p.361-370 |
| 摘要 | This paper studies an algorithm that navigates a robot in an unknown environment with a stereo vision system. Different from a commonly used SLAM method that computes the distance between the robot and a landmark, our study intends to autonomously find an opening, such as a hallway or a window, for the robot to pass. After transforming the regular RGB images, we perform the 3D scene reconstruction in the gray-scale space. The sum of squared differences (SSD) algorithm is applied to match pixels and estimate the shifting distances. An algorithm is proposed to determine the passageway of the environment for guidance purpose. Experiments are presented to demonstrate the validity of our study, and compared with the commercial Kinect kit. The result of the research is especially applicable to surveil in an unknown building or an indoor disaster site. |
| 關鍵字 | Stereo vision;Indoor navigation;Sum of squared differences (SSD);3D scene reconstruction |
| 語言 | en_US |
| ISSN | 1990-7710 |
| 期刊性質 | 國內 |
| 收錄於 | EI ESCI |
| 產學合作 | 國內 |
| 通訊作者 | |
| 審稿制度 | 是 |
| 國別 | TWN |
| 公開徵稿 | |
| 出版型式 | ,電子版,紙本 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/119731 ) |