Paper Info
Title
Construction of elevation map for user-carried outdoor mobile robot using stereo vision
Abstract
The construction method of environment description using stereo camera is described in this paper. This method is for safety of user-carried semi-autonomous mobile robot in outdoor environment that contains steps and slopes. This method constructs environment map by using three-dimension occupancy grid. These grids are cuboids fine in height direction. Three-dimension flow is used for self-localization. The elevation map is constructed from the three-dimension occupancy grid, and the dangerous area is calculated from the elevation map. This make it enable to distinguish passable slopes and impassable steps. Moreover, this system is equipped for an outdoor semi-autonomous electric scooter and performed in real world.
Year
DOI
Venue
2003
10.1109/ICSMC.2003.1245714
SMC
Keywords
Field
DocType
three-dimension flow,user-carried outdoor mobile robot,mobile robots,user- carried semi-autonomous mobile robot,construction method,elevation map,intelligent robots,stereo camera,cameras,obstacle avoidance,outdoor semi-autonomous electric scooter,passable slopes,safety,stereo image processing,intelligent transportation systems,stereo vision,handicapped aids,collision avoidance,three-dimension occupancy grid,self-localization,mobile robot,occupancy grid,three dimensions
Stereo cameras,Stereo camera,Computer vision,Robot control,Computer science,Stereopsis,Artificial intelligence,Mobile robot navigation,Mobile robot,Reflection mapping,Occupancy grid mapping
Conference
Volume
ISSN
ISBN
5
1062-922X
0-7803-7952-7
Citations 
PageRank 
References 
2
0.40
8
Authors
3
Name
Order
Citations
PageRank
Kentaro Kayama1225.57
Ikuko Eguchi Yairi26714.16
Seiji Igi38314.01