P. Di Giamberardino and A. Usai (Italy)
Mobile robot, stereo vision, unknown environment, eleva
tion map, obstacles.
The paper deals with the problem of the definition and the
automatic construction of a 3D elevation map, reporting
the presence and the highness of obstacles in an unknown,
unstructured and stationary environment, built on the ba
sis of images taken by a dual cameras stereovision system
mounted on a mobile robot. An algorithm for building and
updating the map is proposed and its effectiveness versus
simple intuitive solution is evidenced. Some experimental
results are reported to validate such an approach.