A stereo vision based mapping algorithm for detecting inclines, drop-offs, and obstacles for safe local navigation.
Aniket MurarkaBenjamin KuipersPublished in: IROS (2009)
Keyphrases
- computational cost
- dynamic programming
- detection algorithm
- learning algorithm
- computer vision
- neural network
- stereo matching
- np hard
- preprocessing
- estimation algorithm
- real time
- optimization algorithm
- significant improvement
- recognition algorithm
- genetic algorithm
- expectation maximization
- computational complexity
- high accuracy
- objective function
- image matching
- cost function
- multi camera
- search space
- stereo matching algorithm
- structured environments