Modeling obstacles and free spaces for a mobile robot using stereo vision with uncertainty
Modeling obstacles and free spaces for a mobile robot using stereo vision with uncertainty
复制标题
使用不确定性立体视觉对移动机器人的障碍物和自由空间进行建模
DOI：
10.1109/robot.1994.351052
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发表时间：
1994
期刊：
影响因子：
--
通讯作者：
Y. Shirai
中科院分区：
文献类型：
--
作者：
J. Miura;Y. Shirai
本文介绍了一种新的方法来建立一个环境中的障碍物和自由空间，从一组三维段获得立体视觉。由于实时立体视觉仅提供片段的位置，因此有必要确定由片段形成的区域是障碍物还是自由空间。在建模中必须考虑所获得的数据中的模糊性和不确定性。所提出的方法的最终输出是一组可能的情况下的环境和它们的概率;每个情况包括障碍物和障碍物之间的关键区域的描述。描述了一个真实的场景的实验结果。<<ETX>>
This paper describes a new method of modeling an environment in terms of obstacles and free spaces from a set of 3D segments obtained by stereo vision. Since live stereo vision provides only the position of segments, it is necessary to determine whether a region formed by the segments is an obstacle or a free space. The ambiguities and the uncertainties in the obtained data must be considered in modeling. The final output of the proposed method is a set of possible situations of the environment and their probabilities; each situation consists of the description of obstacles and critical regions between the obstacles. Experimental results for a real scene are described.<<ETX>>