Three dimensional structure estimation and planning with vision and range

L. Zhang; B. K. Ghosh

Three dimensional structure estimation and planning with vision and range

Mathematics and Statistics

Research output: Contribution to journal › Conference article › peer-review

Abstract

In this paper, a novel 3D structure estimation approach is proposed. The uniqueness of the approach lies in the fusion of vision and 2D range, which is a common sensor combination for mobile robots. 2D range information can be used for hypothesizing 3D structures, feature association, and improving the estimate accuracy. These problems are difficult to solve if using only vision. The proposed approach will be beneficial to 3D map building application of the mobile robots. Experimental results validate the effectiveness of the approach.

Original language	English
Pages (from-to)	2515-2520
Number of pages	6
Journal	Proceedings of the IEEE Conference on Decision and Control
Volume	3
State	Published - 2000
Event	39th IEEE Confernce on Decision and Control - Sysdney, NSW, Australia Duration: Dec 12 2000 → Dec 15 2000

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title = "Three dimensional structure estimation and planning with vision and range",

abstract = "In this paper, a novel 3D structure estimation approach is proposed. The uniqueness of the approach lies in the fusion of vision and 2D range, which is a common sensor combination for mobile robots. 2D range information can be used for hypothesizing 3D structures, feature association, and improving the estimate accuracy. These problems are difficult to solve if using only vision. The proposed approach will be beneficial to 3D map building application of the mobile robots. Experimental results validate the effectiveness of the approach.",

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AU - Ghosh, B. K.

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N2 - In this paper, a novel 3D structure estimation approach is proposed. The uniqueness of the approach lies in the fusion of vision and 2D range, which is a common sensor combination for mobile robots. 2D range information can be used for hypothesizing 3D structures, feature association, and improving the estimate accuracy. These problems are difficult to solve if using only vision. The proposed approach will be beneficial to 3D map building application of the mobile robots. Experimental results validate the effectiveness of the approach.

AB - In this paper, a novel 3D structure estimation approach is proposed. The uniqueness of the approach lies in the fusion of vision and 2D range, which is a common sensor combination for mobile robots. 2D range information can be used for hypothesizing 3D structures, feature association, and improving the estimate accuracy. These problems are difficult to solve if using only vision. The proposed approach will be beneficial to 3D map building application of the mobile robots. Experimental results validate the effectiveness of the approach.

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M3 - Conference article

AN - SCOPUS:0034439194

VL - 3

SP - 2515

EP - 2520

JO - Proceedings of the IEEE Conference on Decision and Control

JF - Proceedings of the IEEE Conference on Decision and Control

SN - 0191-2216

Y2 - 12 December 2000 through 15 December 2000

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