23 January 2017 A 3D terrain reconstruction method of stereo vision based quadruped robot navigation system
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Proceedings Volume 10322, Seventh International Conference on Electronics and Information Engineering; 1032242 (2017) https://doi.org/10.1117/12.2265369
Event: Seventh International Conference on Electronics and Information Engineering, 2016, Nanjing, China
Abstract
To provide 3D environment information for the quadruped robot autonomous navigation system during walking through rough terrain, based on the stereo vision, a novel 3D terrain reconstruction method is presented. In order to solve the problem that images collected by stereo sensors have large regions with similar grayscale and the problem that image matching is poor at real-time performance, watershed algorithm and fuzzy c-means clustering algorithm are combined for contour extraction. Aiming at the problem of error matching, duel constraint with region matching and pixel matching is established for matching optimization. Using the stereo matching edge pixel pairs, the 3D coordinate algorithm is estimated according to the binocular stereo vision imaging model. Experimental results show that the proposed method can yield high stereo matching ratio and reconstruct 3D scene quickly and efficiently.
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Zhuo Ge, Zhuo Ge, Ying Zhu, Ying Zhu, Guanhao Liang, Guanhao Liang, } "A 3D terrain reconstruction method of stereo vision based quadruped robot navigation system", Proc. SPIE 10322, Seventh International Conference on Electronics and Information Engineering, 1032242 (23 January 2017); doi: 10.1117/12.2265369; https://doi.org/10.1117/12.2265369
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