Detail publikačního výsledku

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

ROZMAN, J.; ZBOŘIL, F.

Originální název

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

Anglický název

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

Druh

Článek recenzovaný mimo WoS a Scopus

Originální abstrakt

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.

Anglický abstrakt

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.

Klíčová slova

path planning, stereocamera, visual SLAM, traversable area marking

Klíčová slova v angličtině

path planning, stereocamera, visual SLAM, traversable area marking

Autoři

ROZMAN, J.; ZBOŘIL, F.

Rok RIV

2013

Vydáno

01.12.2011

ISSN

1752-914X

Periodikum

International Journal of Computational Vision and Robotics (IJCVR)

Svazek

2

Číslo

4

Stát

Indická republika

Strany od

277

Strany do

289

Strany počet

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"
}