A multi-configuration stereoscopic vision system for domestic mobile robot localization

A multi-configuration stereoscopic vision system for domestic mobile robot localization

A multi-configuration stereoscopic vision-system is described. We present the mechanical and electronic features of the stereoscopic head together with the hardware. We describe the methods of image processing implemented for overcoming the optical quality drawback of the low-cost CCD mini-cameras....

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Bibliographische Detailangaben
Hauptverfasser: Loaiza, H., Triboulet, J., Lelandais, S., Chavand, F., Artigue, F.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Calibration
Cameras
Consumer electronics
Costs
Hardware
Image reconstruction
Machine vision
Magnetic heads
Mobile robots
Robot vision systems
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Beschreibung
Zusammenfassung:A multi-configuration stereoscopic vision-system is described. We present the mechanical and electronic features of the stereoscopic head together with the hardware. We describe the methods of image processing implemented for overcoming the optical quality drawback of the low-cost CCD mini-cameras. Algorithms and results for the high-level image representation and 3D reconstruction are presented. The structural characteristics, the low-cost and the precision of the stereo system built, allow its utilisation in domestic mobile robotic applications.
DOI:10.1109/ROMOCO.1999.791077