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2 2008

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Dense 3D Structure and Motion Estimation as an Aid for Robot Navigation

De Cubber G.

Journal of Automation Mobile Robotics and Intelligent Systems

2008

Vol. 2, No. 4

14-18

Three-dimensional scene reconstruction is an important tool in many applications varying from computer graphics to mobile robot navigation. In this paper, we focus on the robotics application, where the goal is to estimate the 3D rigid motion of a mobile robot and to reconstruct a dense three-dimensional scene representation. The reconstruction problem can be subdivided into a number of subproblems. First, the egomotion has to be estimated. For this, the camera (or robot) motion parameters are iteratively estimated by reconstruction of the epipolar geometry. Secondly, a dense depth map is calculated by fusing sparse depth information from point features and dense motion information from the optical flow in a variational framework. This depth map corresponds to a point cloud in 3D space, which can then be converted into a model to extract information for the robot navigation algorithm. Here, we present an integrated approach for the structure and egomotion estimation problem.

A Behaviour-Based Control and Software Architecture for the Visually Guided Gobudem Outdoor Mobile Robot

Doroftei D., Colon E., De Cubber G.

Journal of Automation Mobile Robotics and Intelligent Systems

2008

Vol. 2, No. 4

19-24

The design of outdoor autonomous robots requires the careful consideration and integration of multiple aspects: sensors and sensor data fusion, design of a control and software architecture, design of a path planning algorithm and robot control. This paper describes partial aspects of this research work, which is aimed at developing a semiautonomous outdoor robot for risky interventions. This paper focuses on three main aspects of the design process: visual sensing using stereo vision and image motion analysis, design of a behaviourbased control architecture and implementation of modular software architecture.