Abstract
The paper focuses on combining the advantages of both omnidirectional vision and structured light in order to obtain panoramic depth information for generating a complete 3D visual model of the surroundings of a mobile robot. The model is completed by mapping the imaged texture onto the objects through the central view point. This process is called single-shot scene reconstruction because a visual model of the scene is obtained from a single omnidirectional image. Several such reconstructions are then registered to build a 3D map of the scene while the robot is moving. The authors call this process range scan registration modelling. A mobile platform provided with a catadioptric camera coupled with an omnidirectional structured light projector was used for this purpose. Sensor calibration, image processing and experimental results are included.
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