Simultaneous Scene Reconstruction and Whole-Body Motion Planning for Safe Operation in Dynamic Environments.
Mark Nicholas FineanWolfgang MerktIoannis HavoutisPublished in: IROS (2021)
Keyphrases
- dynamic environments
- motion planning
- scene reconstruction
- path planning
- mobile robot
- safe operation
- humanoid robot
- multi view
- trajectory planning
- monitoring system
- bundle adjustment
- camera motion
- scene structure
- problems in computer vision
- camera parameters
- degrees of freedom
- structure from motion
- image based rendering
- fundamental matrix
- potential field
- multi robot
- nuclear power plant
- camera calibration
- view synthesis
- image correspondences
- belief space
- obstacle avoidance
- collision avoidance
- uncalibrated cameras
- multi modal
- collision free
- computer vision
- image sequences
- expert systems
- optical flow
- multiple views
- human motion
- computer graphics
- motion model
- object recognition
- d scene