Publication detail

Path planning and traversable area marking for stereo vision-based 3D map building

ROZMAN, J. ZBOŘIL, F.

Original Title

Path planning and traversable area marking for stereo vision-based 3D map building

Type

journal article - other

Language

English

Original Abstract

This paper deals with the path-planning of a robot during the exploration and 3D map building in the unknown environment. The robot uses a stereocamera for significant features detection, then matches them in both images and computes their 3D coordinates. This way the robot incrementally creates the 3D map of its surroundings and tries to explore as much area as possible. This paper describes the way of marking the traversable path in the map created so far and the path planning to the next explored goal point. As the map uses points and triangles to represent shape of the surface, the traversable area marking and the path planning is also done in the map which is represented in the same way.

Keywords

path planning, stereocamera, visual SLAM, traversable area marking

Authors

ROZMAN, J.; ZBOŘIL, F.

RIV year

2011

Released

1. 12. 2011

ISBN

1752-914X

Periodical

International Journal of Computational Vision and Robotics (IJCVR)

Year of study

2

Number

4

State

Republic of India

Pages from

277

Pages to

289

Pages count

13

BibTex

@article{BUT91161,
  author="Jaroslav {Rozman} and František {Zbořil}",
  title="Path planning and traversable area marking for stereo vision-based 3D map building",
  journal="International Journal of Computational Vision and Robotics  (IJCVR)",
  year="2011",
  volume="2",
  number="4",
  pages="277--289",
  issn="1752-914X"
}