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.
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页数：5
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