Local processing as a cue for decreasing 3-D structure computation
Local processing as a cue for decreasing 3-D structure computation
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局部处理作为减少 3-D 结构计算的线索
DOI：
10.1007/978-1-4612-2778-6_5
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发表时间：
1992
期刊：
影响因子：
--
通讯作者：
S. Tsuji
中科院分区：
文献类型：
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作者：
P. Stelmaszyk;H. Ishiguro;Roland Pesty;S. Tsuji
通常，从移动的机器人拍摄的图像序列中提取三维信息需要大量的计算，因为三维几何形状和机器人的环境都很复杂。如果存在某种强大的硬件来在真实的时间内计算三维结构，那么它的复杂性就无法进行大规模复制。在这一章中，作者强调，在接近真实的时间确定一个移动的机器人环境的3-D结构的问题可以通过本地计算来实现。这种方法意味着计算场景中选择的一些兴趣点周围的局部地图，而不是直接确定全局地图，就局部跟踪而言，而不是全局匹配算法。为了说明我们的目的，我们展示了安装在移动的机器人上的主动单目视觉系统的3-D局部地图重建的初步结果。这种技术在机器人移动时计算并更新场景中选择的一些特征点周围的局部地图。虽然实验只在存储数据上取得了成功，但由于方程的简单性和使用了允许每秒处理14张图像的令牌跟踪板，可以考虑实时实现。简要报告了该板的算法和硬件方面，并通过机器人实验证明了其鲁棒性。
Usually, the extraction of 3-D information from a sequence of images taken by a mobile robot requires a lot of computation because of the complexity of both the 3-D geometry and the robot’s environment. If some powerful hardware for computing the 3-D structure in real time exists, its complexity cannot undergo a large-scale duplication. In this chapter, the authors stress that the problem of determining in close real time the 3-D structure of a mobile robot environment can be achieved by local computations. Such an approach implies the computation of local maps surrounding some points of interest selected in the scene, instead of the direct determination of the global one, as far as a local tracking rather than a global matching algorithm. For illustrating our purpose, we show the preliminary results of the 3-D local map reconstruction by an active monocular vision system mounted on a mobile robot. Such a technique computes and updates, while the robot is moving, the local map surrounding some feature points selected in the scene. Although the experimentation has succeeded only on stored data, its real-time implementation can be considered thanks to both the simplicity of equations and the use of a token tracking board that allows the processing of 14 images per second. The algorithmic and hardware aspects of this board are briefly reported, and its robustness is demonstrated by a robotic experiment.