Publication detail

Multispectral Stereoscopic Robotic Head Calibration and Evaluation

ŽALUD, L. KOCMANOVÁ, P.

Original Title

Multispectral Stereoscopic Robotic Head Calibration and Evaluation

Type

conference paper

Language

English

Original Abstract

The aim of the paper is to describe the data-fusion from optical sensors for mobile robotics reconnaissance and mapping. Data are acquired by stereo pair of CCD cameras, stereo pair of thermal imagers, and TOF (time-of-flight) range camera. The described calibration and data-fusion algorithms may be used for two purposes: visual telepresence (remote control) under extremely wide variety of visual conditions, like fog, smoke, darkness, etc., and for multispectral autonomous digital mapping of the robot’s environment. The fusion is realized by means of spatial data from a TOF camera - the thermal and CCD camera data are comprised in one multispectral 3D model for mapping purposes or stereo image presented to a binocular, head-mounted display. The data acquisition is performed using a sensor head containing the mentioned 5 cameras, which is placed on 3 degrees-of-freedom (DOF) manipulator on Orpheus-X3 reconnaissance robot; both the head and the robot were developed by our working group.

Keywords

Calibration, Multispectral fusion, Telepresence, Mobile robot

Authors

ŽALUD, L.; KOCMANOVÁ, P.

RIV year

2015

Released

12. 10. 2015

Publisher

Springer International Publishing

Location

Switzerland

ISBN

978-3-319-22382-7

Book

Modelling and Simulation for Autonomous Systems

Pages from

173

Pages to

184

Pages count

248

URL

http://www.springer.com/us/book/9783319223827?wt_mc=ThirdParty.SpringerLink.3.EPR653.About_eBook

BibTex

@inproceedings{BUT121055,
  author="Luděk {Žalud} and Petra {Kalvodová}",
  title="Multispectral Stereoscopic Robotic Head Calibration and Evaluation",
  booktitle="Modelling and Simulation for Autonomous Systems",
  year="2015",
  pages="173--184",
  publisher="Springer International Publishing",
  address="Switzerland",
  doi="10.1007/978-3-319-22383-4",
  isbn="978-3-319-22382-7",
  url="http://www.springer.com/us/book/9783319223827?wt_mc=ThirdParty.SpringerLink.3.EPR653.About_eBook"
}