Stereo camera-based computer vision system of a robot

Karina Petrova; Ekaterina Filatova

doi:10.1117/12.2557211

31 January 2020 Stereo camera-based computer vision system of a robot

Karina Petrova, Ekaterina Filatova

Proceedings Volume 11433, Twelfth International Conference on Machine Vision (ICMV 2019); 114332T (2020) https://doi.org/10.1117/12.2557211
Event: Twelfth International Conference on Machine Vision, 2019, Amsterdam, Netherlands

Abstract

This paper describes a toolkit implementation for developing a disparity map and point cloud of images taken with a stereo camera. Though there are ready-made solutions for this task, the point cloud they provide shows issues with accuracy and has other weaknesses that make it problematic to use such solutions in real-life environment for a robot to navigate inside a building. The outcome of this work is a ROS package allowing to create a disparity map and point cloud that show considerably higher quality and are applicable for mapping in real life environment.

Citation Download Citation

Karina Petrova and Ekaterina Filatova "Stereo camera-based computer vision system of a robot", Proc. SPIE 11433, Twelfth International Conference on Machine Vision (ICMV 2019), 114332T (31 January 2020); https://doi.org/10.1117/12.2557211

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