Depth Map Generation for a Reconnaissance Robot via Sensor Fusion

被引：0

作者：

Abeysekara, A. H. A. D. ^{[1
]}

Liyanage, D. P. ^{[1
]}

Welikala, W. R. E. B. S. ^{[1
]}

Godaliyadda, G. M. R. I. ^{[1
]}

Eakanayake, M. P. B. ^{[1
]}

Wijayakulasooriya, J. V. ^{[1
]}

机构：

[1] Univ Peradeniya, Dept Elect & Elect Engn, Peradeniya, Sri Lanka

来源：

2015 IEEE 10TH INTERNATIONAL CONFERENCE ON INDUSTRIAL AND INFORMATION SYSTEMS (ICIIS) | 2015年

关键词：

tereo Vision; Holonomic; Odometry; INS; Sensor Fusion; Stero Vision; Semi Global Block Matching; Disparity; Depth Map; Camera Calibration; STEREO VISION;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper design and implementation of an accurate positioning system in indoor environments for an Omni directional Robot and a stereo vision based depth estimation system is discussed. The positioning system which is robust for wheel slip and jerky motion was implemented fusing odometry, Inertial Navigation System (INS) and magnetic compass based measurements. The vision system was implemented using two off the shelf web cameras. Here, Semi-Global Block Matching (SGBM) method was further developed considering multiple realizations of the same scenery to increase the accuracy of the depth estimation.

引用

页码：320 / 325

页数：6

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