Spatial Uncertainty Assessment in Visual Terrain Perception for a Mobile Robot
[ 1 ] Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | [ P ] pracownik
2014
referat
angielski
- uncertainty
- stereo vision
- mobile robot
- terrain model
EN This paper addresses the issue of reliable terrain modelling from passive stereo vision data. An analytical uncertainty model for a dense stereo vision system is proposed. This model propagates the uncertainty from calibration through image processing, allowing for calculation of the uncertainty of measured 3D point coordinates. The use of this model in terrain mapping is shown with quantitative results.
357 - 368
WoS (15)