Three dimensional structure estimation and planning with vision and range

L. Zhang, B. K. Ghosh

Research output: Contribution to journalConference articlepeer-review


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 languageEnglish
Pages (from-to)2515-2520
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - 2000
Event39th IEEE Confernce on Decision and Control - Sysdney, NSW, Australia
Duration: Dec 12 2000Dec 15 2000


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