7 April 1995 Reconstructing and visualizing dense global visual maps for extended passive navigation
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Abstract
We consider the task of passive navigation, where a stereo visual sensor system moves around an unknown scene. In order to guide an autonomous navigation, it is important to build a visual map which records the location and the shape of the objects in the scene and their world coordinates. The extended global visual map is an integration of local maps. The approach described in this paper integrates the processes of motion estimation, stereo matching, temporal tracking, and Delaunay triangulation interpolation. Through stereo matching, each frame (a stereo image pair) can produce a set of 3D points of the current scene. The global structures of these 3D points are obtained using the results of the motion estimation. Delaunay tetrahedralization interpolates three-dimensional data points with a simplicial polyhedral surface. The experiment includes 151 frames of stereo images acquired from the moving mobile robot.
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Yuntao Cui, Yuntao Cui, John J. Weng, John J. Weng, "Reconstructing and visualizing dense global visual maps for extended passive navigation", Proc. SPIE 2410, Visual Data Exploration and Analysis II, (7 April 1995); doi: 10.1117/12.205951; https://doi.org/10.1117/12.205951
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