Paper Info
Title
A new 3D sensing method based on stereo PMP technique for mobile robots
Abstract
Intelligent autonomous mobile robots must be able to sense and recognize 3D environment for navigation and task execution where they live or work. To achieve this, a variety of techniques have been developed for the determination of the 3D geometric information such as stereo vision, laser structured light, laser range finder and so on. However, these methods have several limitations such as susceptibility to noise, low resolution, measurement error in 3D scene. In this paper to overcome these problems we introduce a new sensing method based upon stereo vision methodology which utilizes not only intensity information but also phase information. The novelty of this suggested method comes from the fact that it uses the stereo phase information from the PMP technique together with intensity information captured by stereo image. To verify the efficiency and accuracy of the proposed method, a series of experimental tests is performed. The results show that it greatly enhances correspondence matching performance and measurement resolution.
Year
DOI
Venue
2007
10.1109/IROS.2007.4399097
IROS
Keywords
Field
DocType
stereo pmp technique,mobile robots,intelligent autonomous mobile robots,laser range finder,3d sensing method,3d geometric information,intelligent robots,laser structured light,phase information,stereo image processing,stereo vision,stereo image,mobile robot,measurement error,low resolution,structured light
Computer vision,Stereo cameras,Structured light,Stereopsis,Computer science,Artificial intelligence,Novelty,Stereo image,Observational error,Mobile robot,Computer stereo vision
Conference
ISBN
Citations 
PageRank 
978-1-4244-0912-9
1
0.36
References 
Authors
4
2
Name
Order
Citations
PageRank
Hyunki Lee121.41
Hyungsuck Cho221324.88