Abstract
A depth map transforms 3D points into a 2D image and gives a different view of an observed scene. This paper deals with a depth map construction. It describes the whole process, how to transform any 3D point cloud into a 2D depth map. The described method uses 3D rotation matrixes and the line equation. This process allows to create the desired view from arbitrary point and rotation in an exploration space. Using of a depth map allows to apply image processing methods on depth data to get additional information about an ambient space.
Highlights
Depth maps (RGB-D) in mapping systems and robot navigation [1]-[4] are nowadays often used, and in medical area for the respiratory motion detection [5], and in other areas for the motion and object detection.For the 3D range scanning we are using a mobile platform with a laser and a camera, described in [6]
In our previous work we introduced the new modelling of a colored laser line by using the laser Gaussian Mixture Model (GMM) [7]
The described 3D range scanning system is a part of the bigger project called ARES (Autonomous Research Exploration System) [9,10,11]
Summary
Depth maps (RGB-D) in mapping systems and robot navigation [1]-[4] are nowadays often used, and in medical area for the respiratory motion detection [5], and in other areas for the motion and object detection. For the 3D range scanning we are using a mobile platform with a laser and a camera, described in [6]. A laser spot is dispersed to a vertical line which allows measurement in the height range. The last paper describes an elimination of the barrel distortion correction [8]. These works contribute to the increase of the measurement points amount and measurement precision. This paper describes the new algorithm for the depth map construction form a point cloud. This will give more information about depth data and it will allow to apply image processing methods 2D depth data. Figure 1. 3D range scanning system. 2.1 3D point cloud The Figure 2 gives measurement results of one frame, which includes 80 measurement points
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
