| 基于栅格模型的双目移动机器人三维场景重建 |
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| 引用本文： | 李丹程,刘景明,姜琳颖,刘雁集.基于栅格模型的双目移动机器人三维场景重建[J].小型微型计算机系统,2012,33(4):873-877. |
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| 作者姓名： | 李丹程 刘景明 姜琳颖 刘雁集 |
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| 作者单位： | 1. 东北大学软件学院,沈阳,110819
2. 上海交通大学船舶海洋与建筑工程学院,上海,200030 |
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| 摘 要： | 以投影几何学以及双目立体视觉原理为理论基础,对移动机器人的三维重建技术进行研究,对移动机器人漫道过程中所在的兴趣区域的场景进行较为精确的建模.设计了机器人的快速建模方法,利用迭代最近点算法(ICP),完成了多个局部三维场景模型的融合.同时,结合栅格投射理论,完成了对全局三维场景模型的更新.利用栅格模型重建的三维场景,具有环境信息丰富,模型描述精确的特点,可以应用于移动机器人导航领域.
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| 关 键 词： | 移动机器人 三维场景重建 双目立体视觉 迭代最近点 栅格投射 |
Binocular Mobile Robot 3D Scene Reconstruction Based on Evidence Grid Model |
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| LIDan-cheng
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LIU Jing-ming
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JIANG Lin-ying
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LIU Yan-ji.Binocular Mobile Robot 3D Scene Reconstruction Based on Evidence Grid Model[J].Mini-micro Systems,2012,33(4):873-877. |
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| Authors: | LIDan-cheng LIU Jing-ming JIANG Lin-ying LIU Yan-ji |
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| Affiliation: | 1(Software College,Northeastern University,Shenyang 110819,China) 2(School of Naval Architecture,Ocean and Civil Ergineering,Shanghai Jiaotong University,Shanghai 200030,China) |
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| Abstract: | Based on the theories of stereo vision and projective geometry,we study the technology of 3D reconstruction system,and build an accurate model for the interested area of a mobile robot during it roaming the road.By using the iterative closest point algorit-hm(ICP),we design a robot fast-modeling method which can integrate a number of local 3D scene models.At the same time,by com-bining grid projection theory,we accomplish the updating of global 3D scene model.Reconstructed by binocular stereo vision,the 3D scene with characteristics of abundant environment information and accurately described model can be applied for the navigation of mobile robot. |
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| Keywords: | mobile robot 3D scene reconstruction binocular stereo vision iterative closest point evidence grid projection |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
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