Stereo vision terrain modeling for non-planar mobile robot mapping and navigation.
Simon ThompsonSatoshi KagamiPublished in: SMC (6) (2004)
Keyphrases
- stereo vision
- terrain modeling
- mobile robot
- obstacle avoidance
- structured environments
- autonomous navigation
- obstacle detection
- indoor environments
- outdoor environments
- vision system
- path planning
- depth information
- topological map
- stereo images
- stereo matching
- robot motion
- autonomous vehicles
- planar surfaces
- stereo camera
- depth estimation
- digital elevation models
- semi global matching
- dynamic environments
- ground plane
- multiscale
- three dimensional