Publication result detail

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

ROZMAN, J.; ZBOŘIL, F.

Original Title

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

English Title

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

Type

Peer-reviewed article not indexed in WoS or Scopus

Original Abstract

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

English abstract

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

Keywords

path planning, stereocamera, visual SLAM, traversable area marking

Key words in English

path planning, stereocamera, visual SLAM, traversable area marking

Authors

ROZMAN, J.; ZBOŘIL, F.

RIV year

2013

Released

01.12.2011

ISBN

1752-914X

Periodical

International Journal of Computational Vision and Robotics (IJCVR)

Volume

2

Number

4

State

Republic of India

Pages from

277

Pages to

289

Pages count

13

BibTex

@article{BUT91161,
  author="Jaroslav {Rozman} and František {Zbořil}",
  title="Path planning and traversable area marking for stereo vision-based 3D map building",
  journal="International Journal of Computational Vision and Robotics  (IJCVR)",
  year="2011",
  volume="2",
  number="4",
  pages="277--289",
  issn="1752-914X"
}