Active Controlled Exploration of 3D Environmental Models Based on a Binocular Stereo System (1997)
| Venue: | Proc. Int. Conf. on Advanced Robotics (ICAR’97 |
| Citations: | 2 - 1 self |
BibTeX
@INPROCEEDINGS{Burschka97activecontrolled,
author = {Darius Burschka and Georg Färber},
title = {Active Controlled Exploration of 3D Environmental Models Based on a Binocular Stereo System},
booktitle = {Proc. Int. Conf. on Advanced Robotics (ICAR’97},
year = {1997},
pages = {971--977}
}
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Abstract
This paper describes the exploration of indoor environments based on a binocular stereo system mounted on a mobile vehicle. It introduces the algorithms for the control of the vehicle and the camera mount depending on the explored and the a-priori known information about the environment. The controlled vehicle does not follow a precompiled path but finds its goals depending on the perceived information. The resulting environmental model is stored in a multilayer map storing the three-dimensional boundary lines of the objects at their geometrical positions in the world. The line description in the model is adapted to meet the requirements of a successive exploration with a video camera. Keywords: path planning, environmental models, active camera control, navigation 1 Motivation The knowledge about the current position and the surrounding environment is essential for the efficient use of an autonomous mobile robot (AMR). The localisation and navigation tasks require a reliable and ex...
