2006 · 93 citations · 13 references
ComputingMechatronics EngineeringRobotics EngineeringComputer VisionMobile RoboticsSensor Fusion3D ReconstructionDepth EstimationMappingRobot LocalizationScene ReconstructionStereo Vision3D Reconstruction For LocalizationExperimental Data CollectionIndoor 3D MappingIndoor Scene ReconstructionMulti-view StereoMulti-view Stereo ReconstructionReal-time ReconstructionStereo Reconstruction
3D environment reconstruction is a basic task, delivering the data for mapping, localization and navigation in mobile robotics. We present a new technique that combines a stereo-camera system with a PMD-camera. Both systems generate distance images of the environment but with different characteristics. It is shown that each system compensates effectively for the deficiencies of the other one. The combined system is real-time suited. Experimental data of an indoor scene including the calibration procedure are reported.
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