Stereo Camera-based Computer Vision System of a Robot

被引：0

作者：

Petrova, Karina ^{[1
]}

Filatova, Ekaterina ^{[1
]}

机构：

[1] St Petersburg State Electrotech Univ LETI, St Petersburg, Russia

来源：

TWELFTH INTERNATIONAL CONFERENCE ON MACHINE VISION (ICMV 2019) | 2020年 / 11433卷

关键词：

Stereovision; stereo camera; depth map; disparity map; point cloud; ROS;

D O I：

10.1117/12.2557211

中图分类号：

O43 [光学];

学科分类号：

070207 ; 0803 ;

摘要：

This paper describes a toolkit implementation for developing a disparity map and point cloud of images taken with a stereo camera. Though there are ready-made solutions for this task, the point cloud they provide shows issues with accuracy and has other weaknesses that make it problematic to use such solutions in real-life environment for a robot to navigate inside a building. The outcome of this work is a ROS package allowing to create a disparity map and point cloud that show considerably higher quality and are applicable for mapping in real life environment.

引用

页数：5

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