GENERATION METHOD OF THREE-DIMENSIONAL SURROUND MODEL USING RANGE IMAGE AND SURF

摘要：

　　Autonomous mobile robots are used for reducing tasks or cost in factories and warehouses.Furthermore, it is expected that autonomous mobile robots are used for social welfare and services in the home and office.These general autonomous mobile robots use environmental maps for navigations.In these environmental maps, it is required that a lot of information such as color information and three-dimensional structure of real environments, are contained.Therefore, in this paper, we propose a generation method of three-dimensional surround model using range image and speed up robust feature.This method generates a three-dimensional surround model which contains both color information and three-dimensional structure of real environment.In this method, a position and a posture of a camera are estimated using feature points of SURF, and inputted images of the camera are mapped to three-dimensional space based on the position and the posture of the camera.Furthermore, an experiment that three-dimensional surround model of a real environment is generated using the proposed method, is performed.The effectiveness of the proposed method is demonstrated.

关键词： Three-dimensional Surround Model SLAM Image Processing SURF

作者: Naoya Moriwaka Saori Kohyama Mitsuru Jindai Hitoshi Yamauchi Hironori Takimoto

作者单位: Graduate School of System Engineering, Okayama Prefectural University,111 Kuboki, Soja, Okayama, 719 Faculty of Computer Science and System Engineering, Okayama Prefectural University,111 Kuboki, Soja,

会议类型: 国际会议

会议名称: The 11th International Conference on Industrial Management(第十一届工业管理国际会议)

会议地点: 日本

会议语种:英文

页码: 674-678

在线出版日期: 2012-08-29（万方平台首次上网日期，不代表论文的发表时间）