2A1-C14 時系列ステレオ画像からのビジュアルオドメトリ手法の精度評価

Abstract

This paper describes a 3D reconstruction system from stereo image sequences to obtain a dense local world model for robot navigation. Proposed method consists of three components: 1) stereo depth map calculation, 2) correspondence calculation in time sequential images by tracking raw image features, 3) 6DOF camera motion estimation by RANSAC and integrate depth map into 3D reconstructed model. We examined and evaluated our method in simulations.