The IRMA Community
Newsletters
Research IRM
Click a keyword to search titles using our InfoSci-OnDemand powered search:
|
Widely-Separated Stereo Views Turn into 3D Objects: An Application
Abstract
This chapter discusses the representation of obstacles in an environment with planar ground through wide baseline set of images in the context of teleoperation. The camera parameters are assumed to be known approximately within some range according to the error margins of the sensors used such as inertial devices. The technique proposed in this chapter is based on detecting junctions in all images using the so-called the JUDOCA operator, and through homographic transformation, correlation is applied to achieve point correspondences. The match set is then triangulated to obtain a set of 3D points. Point clustering is then performed to achieve a bounding box for each obstacle, which may be used for localization purposes by itself. Finally, voxel occupancy scheme is applied to get volumetric representation of the obstacles.
Related Content
|
Kamel Mouloudj, Vu Lan Oanh LE, Achouak Bouarar, Ahmed Chemseddine Bouarar, Dachel Martínez Asanza, Mayuri Srivastava.
© 2024.
20 pages.
|
|
José Eduardo Aleixo, José Luís Reis, Sandrina Francisca Teixeira, Ana Pinto de Lima.
© 2024.
52 pages.
|
|
Jorge Figueiredo, Isabel Oliveira, Sérgio Silva, Margarida Pocinho, António Cardoso, Manuel Pereira.
© 2024.
24 pages.
|
|
Fatih Pinarbasi.
© 2024.
20 pages.
|
|
Stavros Kaperonis.
© 2024.
25 pages.
|
|
Thomas Rui Mendes, Ana Cristina Antunes.
© 2024.
24 pages.
|
|
Nuno Geada.
© 2024.
12 pages.
|
|
|