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

[41] Real-Time 3D Model Reconstruction and Mapping for Fashion
Makarov, Ilya
Chernyshev, Daniil
[J]. 2020 43RD INTERNATIONAL CONFERENCE ON TELECOMMUNICATIONS AND SIGNAL PROCESSING (TSP), 2020, : 133 - 138
[42] REAL-TIME DEPTH DIFFUSION FOR 3D SURFACE RECONSTRUCTION
Varadarajan, Karthik Mahesh
Vincze, Markus
[J]. 2010 IEEE INTERNATIONAL CONFERENCE ON IMAGE PROCESSING, 2010, : 4149 - 4152
[43] Real-Time 3D PET Image with Pseudoinverse Reconstruction
Lopez-Montes, Alejandro
Galve, Pablo
Manuel Udias, Jose
Cal-Gonzalez, Jacobo
Jose Vaquero, Juan
Desco, Manuel
Herraiz, Joaquin L.
[J]. APPLIED SCIENCES-BASEL, 2020, 10 (08):
[44] A Real-Time 3D Reconstruction of Staircases for Rehabilitative Exoskeletons
Raineri, Marina
Monica, Riccardo
Lo Bianco, Corrado Guarino
[J]. IEEE TRANSACTIONS ON MEDICAL ROBOTICS AND BIONICS, 2021, 3 (01): : 220 - 229
[45] Advances in Real-Time 3D Reconstruction for Medical Endoscopy
Richter, Alexander
Steinmann, Till
Rosenthal, Jean-Claude
Rupitsch, Stefan J.
[J]. JOURNAL OF IMAGING, 2024, 10 (05)
[46] Real-time 3D Rendering Based on Multiple Cameras and Point Cloud
Chang, Wei-Chun
Chang, Wen-Chih
[J]. 2014 7TH INTERNATIONAL CONFERENCE ON UBI-MEDIA COMPUTING AND WORKSHOPS (UMEDIA), 2014, : 121 - 126
[47] Stereoscopic cameras for the real-time acquisition of panoramic 3D images and videos
Gurrieri, Luis E.
Dubois, Eric
[J]. STEREOSCOPIC DISPLAYS AND APPLICATIONS XXIV, 2013, 8648
[48] Real-time dense 3D object reconstruction using RGB-D sensor
Ruchay, Alexey
Dorofeev, Konstantin
Kalschikov, Vsevolod
[J]. APPLICATIONS OF DIGITAL IMAGE PROCESSING XLIII, 2020, 11510
[49] Real-time 3D reconstruction using time of flight sensor optimized visual hull
[J]. Wang, C. (zz@vrlab.buaa.edu.cn), 1600, Institute of Computing Technology (25):
[50] Real-time robot navigation in unstructured environments using a 3D laser rangefinder
Montano, L
Asensio, JR
[J]. IROS '97 - PROCEEDINGS OF THE 1997 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOT AND SYSTEMS: INNOVATIVE ROBOTICS FOR REAL-WORLD APPLICATIONS, VOLS 1-3, 1996, : 526 - 532

← 1 2 3 4 5 →