Discovering and mapping complete surfaces with stereo
Discovering and mapping complete surfaces with stereo
复制标题
用立体发现和映射完整的表面
DOI：
10.1109/robot.2010.5509337
复制
发表时间：
2010
期刊：
影响因子：
--
通讯作者：
P. Newman
中科院分区：
文献类型：
--
作者：
Robbie Shade;P. Newman
本文是关于使用立体对自动发现和映射曲面的。我们首先观察到，对于任何拓扑相连的工作空间(即不包含自由飞行的岛)，存在覆盖整个工作空间的单一表面。我们称这个曲面为覆盖曲面。我们假设，虽然这个曲面是复杂的，并且自交，但它上的每个点都可以从合适的相机姿势成像，而且它在一定的有限尺度上是局部光滑的-它是一个流形。我们展示了如何通过将覆盖表面表示为观察像素的非平面图，我们能够规划新的视图，并且重要的是融合来自多个视图的视差图。可以将生成的图形提升到3D以产生全场景重建。
This paper is about the automated discovery and mapping of surfaces using a stereo pair. We begin with the observation that for any workspace which is topologically connected (i.e. does not contain free flying islands) there exists a single surface that covers the entirety of the workspace. We call this surface the covering surface. We assume that while this surface is complex and self intersecting every point on it can be imaged from a suitable camera pose and furthermore that it is locally smooth at some finite scale - it is a manifold. We show how by representing the covering surface as a non-planar graph of observed pixels we are able to plan new views and importantly fuse disparity maps from multiple views. The resulting graph can be lifted to 3D to yield a full scene reconstruction.