Terrain mapping for off-road Autonomous Ground Vehicles using rational B-Spline surfaces and stereo vision.
Alberto BroggiElena CardarelliStefano CattaniMario SabbatelliPublished in: Intelligent Vehicles Symposium (2013)
Keyphrases
- ground vehicles
- stereo vision
- b spline
- path planning
- surface fitting
- surface representation
- obstacle detection
- control points
- spline curve
- stereo matching
- stereo images
- collision avoidance
- depth information
- vision system
- least squares
- stereo camera
- basis functions
- affine transformation
- mobile robot
- surface reconstruction
- curve fitting
- three dimensional
- dynamic environments
- unmanned aerial vehicles
- disparity map
- stereo method
- real time
- point cloud
- viewpoint
- moving objects
- object recognition
- computer vision