Local 3D Map Building Based on Projection of Virtual Height Line

摘要：

3D map building is an important task of autonomous land vehicle(ALV)for obstacle detection,path planning.Traditional methods using stereo vision usually relies on dense disparity map obtained by stereo matching,and 3D map is built based on the disparity map.Traditional methods are sensitive to mismatch pixels in disparity map,and dense stereo matching increases lots of unnecessary computation.This paper proposes a novel 3D map building method based on projection of virtual height line(VHL).Unlike traditional methods,the proposed needn’t obtain the disparity map,so it reduces the computation cost and can be highly real-time.Simulation and experimental result is given to show that the built 3D map reflects the actual scene basically and meets the need of ALV navigation.

作者: Huahua Chen Xueyi Ye

作者单位: College of Communication Engineering Hangzhou Dianzi University Hangzhou 310018,China

会议类型: 国际会议

会议名称: 第一届智能网络与智能系统国际会议(ICINIS 2008)(The First International Conference on Intelligent Networks and Intelligent Systems)

会议地点: 武汉

会议语种:英文

在线出版日期: 2008-11-01（万方平台首次上网日期，不代表论文的发表时间）