教師資料查詢 | 類別: 期刊論文 | 教師: 蕭富元 FU-YUEN HSIAO (瀏覽個人網頁)

標題:Autonomous Indoor Passageway Finding Using 3D Scene Reconstruction with Stereo Vision
學年
學期
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
語言英文(美國)
ISSN1990-7710
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
國別中華民國
公開徵稿
出版型式,電子版,紙本
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