Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
권호 표지

A Study on the Real-Time Map Building of Mobile Robot Using Stereo Came

스테레오 비전을 이용한 이동로봇의 실시간 지도 작성을 위한 연구

  • Sung, Yong-Won (Electrical, Electronics and Control Engineering, ChangWon National Univ.) ;
  • Kim, Tae-Min (Electrical, Electronics and Control Engineering, ChangWon National Univ.) ;
  • Lee, Min-Ki (Electrical, Electronics and Control Engineering, ChangWon National Univ.) ;
  • Yoon, Tae-Sung (Electrical, Electronics and Control Engineering, ChangWon National Univ.)
  • 성용원 (국립창원대학교 전기전자제어공학과) ;
  • 김태민 (국립창원대학교 전기전자제어공학과) ;
  • 이민기 (국립창원대학교 전기전자제어공학과) ;
  • 윤태성 (국립창원대학교 전기전자제어공학과)
  • Published : 2001.07.18
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, we studied on the real-time environment map building for the mobile robot navigation using the stereo camera system. Distance measurement are necessary to build the environment map. We used a area-based stereo matching for the distance measurement with the stereo camera system. To reduce the computation time, we used DSP processor on the vision board, took a suitable area size for stereo matching, and used hierarchical search method. Using the fast acquired distance values, the environment map was built.

Keywords