학술논문
A global 3D map-building approach using stereo vision
Document Type
Conference
Author
Source
IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 Robotics and automation Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on. 2:1197-1202 Vol.2 2004
Subject
Language
ISSN
1050-4729
Abstract
We present a stereo-based approach for building 3D maps. First, the best local alignment between successive point clouds is computed by a fast ego-motion/action-estimation algorithm which relies on an incremental matches filtering process followed by energy minimization. Then, a quasi-random updating algorithm, a kind of multi-view ICP, minimizes the global inconsistency of the map. Such an inconsistency is defined in terms of the sum of local inconsistencies and an additional entropy-based regularization term which is effective in plane-parallel environments. For the sake of efficiency, we assume a flat floor and a fixed stereo camera mounted on the robot. We have successfully tested the approach by performing several indoor mapping experiments.