Design of a terrain mapping system for low-cost exploration Robots based on Stereo Vision

• Autorzy: Zuniga William Percy Cuno , Navarro Jordan Jonathan Quispe , Diaz Juan Daniel Pocohuanca , Suarez Jesus Talavera , Angulo Andres Montoya

Identyfikatory

DOI

10.15199/48.2023.05.46

Warianty tytułu

PL

Projekt systemu mapowania terenu do tanich eksploracji Roboty oparte na Stereo Vision

• Języki publikacji: EN

Abstrakty

EN

This paper proposes a low-cost system for terrestrial mapping and exploration of inaccessible or subterranean environments by using stereo vision with two cameras, image processing and a developed algorithm based on disparity maps that reconstructs a 3D map of the explored environment. The tests were performed on a robot with two stereo vision cameras mounted on a turret with 360° freedom of movement. The tests showed that this proposed system allows to visualize the depth of the objects around the robot and builds a 360° scenario of the explored place

PL

W artykule zaproponowano niedrogi system do mapowania naziemnego i eksploracji niedostępnych lub podziemnych środowisk przy użyciu stereowizyjnego widzenia z dwiema kamerami, przetwarzania obrazu i opracowanego algorytmu opartego na mapach rozbieżności, który rekonstruuje trójwymiarową mapę badanego środowiska. Testy przeprowadzono na robocie z dwiema kamerami stereowizyjnymi zamontowanymi na wieżyczce ze swobodą ruchu 360°. Testy wykazały, że proponowany system pozwala na wizualizację głębokości obiektów wokół robota i buduje scenariusz 360° badanego miejsca.

Słowa kluczowe

EN

low cost; terrain mapping; stereo vision; distance estimation

PL

mapowanie terenu; sterewizja; robot

• Wydawca: Wydawnictwo SIGMA-NOT
• Czasopismo: Przegląd Elektrotechniczny
• Rocznik: 2023
• Tom: R. 99, nr 5
• Strony: 270--275
• Opis fizyczny: Bibliogr. 26 poz., rys.

Twórcy

autor

Zuniga William Percy Cuno

• Universidad Nacional de San Agustin de Arequipa, Peru

autor

Navarro Jordan Jonathan Quispe

• Universidad Nacional de San Agustin de Arequipa, Peru

autor

Diaz Juan Daniel Pocohuanca

• Universidad Nacional de San Agustin de Arequipa, Peru

autor

Suarez Jesus Talavera

• Universidad Nacional de San Agustin de Arequipa, Peru

autor

Angulo Andres Montoya

• Universidad Nacional de San Agustin de Arequipa, Peru

Bibliografia

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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2024).