Stereo vision based 3D modeling system for mobile robot

Jian Hong Sun, Byung Seung Jeon, Jong Wook Lim, Myo Taeg Lim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

In this paper we will use stereo camera for 3D modeling of object in indoor environment. For mobile robot, navigation is a very important research area. Stereo vision can provide many information of the environment, and with these information robot can perform high level task. With our stereo vision system, firstly, we get disparity map from frames captured by the stereo camera. Then we extract the points of object from the frames, and convert these points to 3D coordinates. We select key points from the object points. Finally with these key points we build 3D model by our modeling system. Then we can get a virtual model of the objects in indoor environment.

Original languageEnglish
Title of host publicationICCAS 2010 - International Conference on Control, Automation and Systems
Pages71-75
Number of pages5
Publication statusPublished - 2010 Dec 1
EventInternational Conference on Control, Automation and Systems, ICCAS 2010 - Gyeonggi-do, Korea, Republic of
Duration: 2010 Oct 272010 Oct 30

Other

OtherInternational Conference on Control, Automation and Systems, ICCAS 2010
CountryKorea, Republic of
CityGyeonggi-do
Period10/10/2710/10/30

Fingerprint

Stereo vision
Mobile robots
Cameras
Navigation
Robots

Keywords

  • 3D model
  • Edge point
  • Navigation
  • Stereo vision
  • Visual odometry

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

Cite this

Sun, J. H., Jeon, B. S., Lim, J. W., & Lim, M. T. (2010). Stereo vision based 3D modeling system for mobile robot. In ICCAS 2010 - International Conference on Control, Automation and Systems (pp. 71-75). [5669961]

Stereo vision based 3D modeling system for mobile robot. / Sun, Jian Hong; Jeon, Byung Seung; Lim, Jong Wook; Lim, Myo Taeg.

ICCAS 2010 - International Conference on Control, Automation and Systems. 2010. p. 71-75 5669961.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Sun, JH, Jeon, BS, Lim, JW & Lim, MT 2010, Stereo vision based 3D modeling system for mobile robot. in ICCAS 2010 - International Conference on Control, Automation and Systems., 5669961, pp. 71-75, International Conference on Control, Automation and Systems, ICCAS 2010, Gyeonggi-do, Korea, Republic of, 10/10/27.
Sun JH, Jeon BS, Lim JW, Lim MT. Stereo vision based 3D modeling system for mobile robot. In ICCAS 2010 - International Conference on Control, Automation and Systems. 2010. p. 71-75. 5669961
Sun, Jian Hong ; Jeon, Byung Seung ; Lim, Jong Wook ; Lim, Myo Taeg. / Stereo vision based 3D modeling system for mobile robot. ICCAS 2010 - International Conference on Control, Automation and Systems. 2010. pp. 71-75
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