Dynamical Reconstruction of a 3D Elevation Map using Stereovision from a Mobile Robot

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.

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