Lidar-camera Based 3D Obstacle Detection for UGVs.
Chunhui ZhaoCe WangBoyin ZhengJinwen HuXiaolei HouQuan PanZhao XuPublished in: ICCA (2019)
Keyphrases
- obstacle detection
- ground plane
- stereo camera
- outdoor environments
- point cloud
- stereo vision
- fisheye lens
- relative position
- vision system
- multiple cameras
- camera calibration
- surveillance system
- mobile robot
- autonomous navigation
- ego motion
- multiple views
- camera parameters
- multi camera
- depth information
- high resolution
- geometric constraints
- structure from motion
- real time
- indoor environments
- single camera
- field of view
- depth map
- video camera
- dynamic scenes
- geometric properties
- surface reconstruction
- stereo pair
- stereo images
- point correspondences
- camera motion