A 3D terrain reconstruction method of stereo vision based quadruped robot navigation system

Zhuo Ge; Ying Zhu; Guanhao Liang

doi:10.1117/12.2265369

23 January 2017 A 3D terrain reconstruction method of stereo vision based quadruped robot navigation system

Zhuo Ge, Ying Zhu, Guanhao Liang

Proceedings Volume 10322, Seventh International Conference on Electronics and Information Engineering; 1032242 (2017) https://doi.org/10.1117/12.2265369
Event: Seventh International Conference on Electronics and Information Engineering, 2016, Nanjing, China

Abstract

To provide 3D environment information for the quadruped robot autonomous navigation system during walking through rough terrain, based on the stereo vision, a novel 3D terrain reconstruction method is presented. In order to solve the problem that images collected by stereo sensors have large regions with similar grayscale and the problem that image matching is poor at real-time performance, watershed algorithm and fuzzy c-means clustering algorithm are combined for contour extraction. Aiming at the problem of error matching, duel constraint with region matching and pixel matching is established for matching optimization. Using the stereo matching edge pixel pairs, the 3D coordinate algorithm is estimated according to the binocular stereo vision imaging model. Experimental results show that the proposed method can yield high stereo matching ratio and reconstruct 3D scene quickly and efficiently.

Citation Download Citation

Zhuo Ge, Ying Zhu, and Guanhao Liang "A 3D terrain reconstruction method of stereo vision based quadruped robot navigation system", Proc. SPIE 10322, Seventh International Conference on Electronics and Information Engineering, 1032242 (23 January 2017); https://doi.org/10.1117/12.2265369

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $17.00

Non-members: $21.00 ADD TO CART

PROCEEDINGS
7 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

RIGHTS & PERMISSIONS

Get copyright permission Get copyright permission on Copyright Marketplace

KEYWORDS

Image segmentation

Lithium

Reconstruction algorithms

Navigation systems

3D modeling

3D vision

Stereo vision systems

Show All Keywords

Keywords/Phrases

Search In:

Publication Years