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Alternative TitleMobile robot 3D environment reconstruction based on visual odometer
吴乃亮; 闫飞; 卜春光
Source Publication华中科技大学学报(自然科学版)
Indexed ByEI
EI Accession number20154401471251
Contribution Rank2
Funding Organization“十二五”国家科技支撑计划重点资助项目(2013BAK03B01)
Keyword移动机器人 视觉里程计 三维激光 三维场景重构 位姿估计
Other AbstractThe aim of this paper is to investigate the 3D (three dimensional) environment reconstruction for mobile robot without using GPS (global positioning system). Based on the real-time pose estimation by using the stereo, we used an inlier selection approach developed from the max-clique to improve the performance of RANSAC, then computed the 3D pose with a robust pose estimation algorithm. A 3D laser system to achieve an indoor 3D point cloud data collection was designed and developed. The multi-view point cloud was further merged based on the reliable pose information obtained from the visual odometer, which is able to provide an effective large scale 3D environment reconstruction map. The proposed approach was simulated and tested on the SmartROB platform in indoor rooms, corridors and halls. The results has represented and verified the effectiveness and practicability of the approach.
Document Type期刊论文
Recommended Citation
GB/T 7714
吴乃亮,闫飞,卜春光. 基于视觉里程计的移动机器人三维场景重构[J]. 华中科技大学学报(自然科学版),2015,43(S1):337-340.
APA 吴乃亮,闫飞,&卜春光.(2015).基于视觉里程计的移动机器人三维场景重构.华中科技大学学报(自然科学版),43(S1),337-340.
MLA 吴乃亮,et al."基于视觉里程计的移动机器人三维场景重构".华中科技大学学报(自然科学版) 43.S1(2015):337-340.
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