Publication Details

Path planning and traversable area marking for stereo vision-based 3D map building

ROZMAN Jaroslav and ZBOŘIL František V.. Path planning and traversable area marking for stereo vision-based 3D map building. International Journal of Computational Vision and Robotics (IJCVR), vol. 2, no. 4, 2011, pp. 277-289. ISSN 1752-914X.
Czech title
Plánování cesty a vyznačování volného prostoru pro stereo 3D mapování
Type
journal article
Language
english
Authors
Keywords

path planning, stereocamera, visual SLAM, traversable area marking

Abstract

This paper deals with the path-planning of a robot during the exploration and 3D map building in the unknown environment. The robot uses a stereocamera for significant features detection, then matches them in both images and computes their 3D coordinates. This way the robot incrementally creates the 3D map of its surroundings and tries to explore as much area as possible. This paper describes the way of marking the traversable path in the map created so far and the path planning to the next explored goal point. As the map uses points and triangles to represent shape of the surface, the traversable area marking and the path planning is also done in the map which is represented in the same way.

Published
2011
Pages
277-289
Journal
International Journal of Computational Vision and Robotics (IJCVR), vol. 2, no. 4, ISSN 1752-914X
Publisher
Inderscience Publishers
BibTeX
@ARTICLE{FITPUB9965,
   author = "Jaroslav Rozman and V. Franti\v{s}ek Zbo\v{r}il",
   title = "Path planning and traversable area marking for stereo vision-based 3D map building",
   pages = "277--289",
   journal = "International Journal of Computational Vision and Robotics  (IJCVR)",
   volume = 2,
   number = 4,
   year = 2011,
   ISSN = "1752-914X",
   language = "english",
   url = "https://www.fit.vut.cz/research/publication/9965"
}
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