Construction of elevation map for user-carried outdoor mobile robot using stereo vision

2004 ◽  
Author(s):  
K. Kayama ◽  
I.E. Yairi ◽  
S. Igi
Keyword(s):  
Mobile Robot ◽  
Stereo Vision

Active stereo vision-based mobile robot navigation for person tracking

2006 ◽  
Vol 13 (3) ◽  
pp. 203-222 ◽  
Author(s):  
V. Enescu ◽  
G. De Cubber ◽  
K. Cauwerts ◽  
H. Sahli ◽  
E. Demeester ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Stereo Vision ◽  
Robot Navigation ◽  
Mobile Robot Navigation ◽  
Person Tracking ◽  
Active Stereo

scholarly journals Experiments on mobile robot stereo vision system calibration under hardware imperfection

2018 ◽  
Vol 161 ◽  
pp. 03020 ◽  
Author(s):  
Ramil Safin ◽  
Roman Lavrenov ◽  
Subir Kumar Saha ◽  
Evgeni Magid
Keyword(s):  
Mobile Robot ◽  
Stereo Vision ◽  
Experimental Approach ◽  
Vision System ◽  
Robot Vision ◽  
System Calibration ◽  
Stereo Vision System ◽  
Calibration Methods ◽  
Vertical Level ◽  
Grid Based

Calibration is essential for any robot vision system for achieving high accuracy in deriving objects metric information. One of typical requirements for a stereo vison system in order to obtain better calibration results is to guarantee that both cameras keep the same vertical level. However, cameras may be displaced due to severe conditions of a robot operating or some other circumstances. This paper presents our experimental approach to the problem of a mobile robot stereo vision system calibration under a hardware imperfection. In our experiments, we used crawler-type mobile robot «Servosila Engineer». Stereo system cameras of the robot were displaced relative to each other, causing loss of surrounding environment information. We implemented and verified checkerboard and circle grid based calibration methods. The two methods comparison demonstrated that a circle grid based calibration should be preferred over a classical checkerboard calibration approach.

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