Autonomous Indoor Passageway Finding Using 3D Scene Reconstruction with Stereo Vision
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 )

SDGS 優質教育