Real-Time 3D Reconstruction for Mobile Robot Using Catadioptric Cameras

被引：4

作者：

Rossi, Romain ^{[1
]}

Savatier, Xavier ^{[1
]}

Ertaud, Jean-Yves ^{[1
]}

Mazari, Belahcene ^{[1
]}

机构：

[1] Res Inst Embedded Syst IRSEEM, F-76801 St Etienne, France

来源：

2009 IEEE INTERNATIONAL WORKSHOP ON ROBOTIC AND SENSORS ENVIRONMENTS (ROSE 2009) | 2009年

关键词：

GPU; CUDA; 3D reconstruction; voxel; catadioptric camera; computer vision;

D O I：

10.1109/ROSE.2009.5355981

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a 3-second 3D reconstruction algorithm able to process a dense geometric approximation of the surrounding environment. Image acquisition is done by a stereoscopic panoramic system with two color catadioptric cameras mounted on a mobile robot. An algorithm running on a Graphical Processing Unit (GPU) processes the 3D reconstruction in real-time. As the camera system moves, new views of the scene are used to improve the model of the scene thanks to an incremental algorithm. Then, the performance of our approach is evaluated using a synthetic image sequence

引用

页码：104 / 109

页数：6

共 50 条

[1] GEOMETRICAL 3D RECONSTRUCTION USING REAL-TIME RGB-D CAMERAS
Penelle, B.
Schenkel, A.
Warzee, N.
[J]. INTERNATIONAL CONFERENCE ON 3D IMAGING 2011 (IC3D 2011), 2011,
[2] Panoramic 3D Reconstruction with Three Catadioptric Cameras
Schoenbein, Miriam
Rapp, Holger
Lauer, Martin
[J]. INTELLIGENT AUTONOMOUS SYSTEMS 12, VOL 1, 2013, 193 : 345 - 353
[3] Real-Time 3D Eye Performance Reconstruction for RGBD Cameras
Wen, Quan
Xu, Feng
Yong, Jun-Hai
[J]. IEEE TRANSACTIONS ON VISUALIZATION AND COMPUTER GRAPHICS, 2017, 23 (12) : 2586 - 2598
[4] Towards Real-time Underwater 3D Reconstruction with Plenoptic Cameras
Skinner, Katherine A.
Johnson-Roberson, Matthew
[J]. 2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016), 2016, : 2014 - 2021
[5] A real-time 3D interface using uncalibrated cameras
Chang, NL
[J]. IMAGE AND VIDEO COMMUNICATIONS AND PROCESSING 2005, PTS 1 AND 2, 2005, 5685 : 469 - 478
[6] Real-Time 3D Tracking and Reconstruction on Mobile Phones
Prisacariu, Victor Adrian
Kaehler, Olaf
Murray, David W.
Reid, Ian D.
[J]. IEEE TRANSACTIONS ON VISUALIZATION AND COMPUTER GRAPHICS, 2015, 21 (05) : 557 - 570
[7] Real-time photorealistic 3D map building using mobile multiple stereo cameras setup
Netramai, C.
Roth, H.
[J]. 2007 3DTV CONFERENCE, 2007, : 305 - 309
[8] Mobile3DRecon: Real-time Monocular 3D Reconstruction on a Mobile Phone
Yang, Xingbin
Zhou, Liyang
Jiang, Hanqing
Tang, Zhongliang
Wang, Yuanbo
Bao, Hujun
Zhang, Guofeng
[J]. IEEE TRANSACTIONS ON VISUALIZATION AND COMPUTER GRAPHICS, 2020, 26 (12) : 3446 - 3456
[9] Autocalibration & 3D reconstruction with non-central catadioptric cameras
Micusík, B
Pajdla, T
[J]. PROCEEDINGS OF THE 2004 IEEE COMPUTER SOCIETY CONFERENCE ON COMPUTER VISION AND PATTERN RECOGNITION, VOL 1, 2004, : 58 - 65
[10] Real-Time 3D Ultrasound Reconstruction Using Octrees
Victoria, Cesar
Torres, Fabian
Garduno, Edgar
Cosio, Fernando Arambula
Gastelum-Strozzi, Alfonso
[J]. IEEE ACCESS, 2023, 11 : 78970 - 78983

← 1 2 3 4 5 →