Optimization in 3D Scene Acquisition with Two Mobile Robots.

González, Nera and Sebastian y Zuñiga, Jose Maria and Artieda Trigueros, Jorge (2008). Optimization in 3D Scene Acquisition with Two Mobile Robots.. In: "5th Internacional Conference on Image Analysis and Recognition, ICIAR 2008", 25/06/2008-27/06/2008, Póvoa de Varzim, Portugal. ISBN 978-3-540-69811-1.

Description

Title: Optimization in 3D Scene Acquisition with Two Mobile Robots.
Author/s:
  • González, Nera
  • Sebastian y Zuñiga, Jose Maria
  • Artieda Trigueros, Jorge
Item Type: Presentation at Congress or Conference (Article)
Event Title: 5th Internacional Conference on Image Analysis and Recognition, ICIAR 2008
Event Dates: 25/06/2008-27/06/2008
Event Location: Póvoa de Varzim, Portugal
Title of Book: Proceedings of the 5th Internacional Conference on Image Analysis and Recognition, ICIAR 2008
Date: 2008
ISBN: 978-3-540-69811-1
Subjects:
Freetext Keywords: Uncertainty - Minimization - Reconstruction - Vision - Occlusion
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

This article presents a method for cooperative reconstruction of three-dimensional scenes using multiple views. Although the use of multiple views is one of the most applied in the 3D scenes interpretation, its use with a single mobile robot does not guarantee the perfect localization of the environment, due to odometry errors. Also, the reconstruction of dynamic environments is not allowed for a single robot, which takes views in different instants. This work proposes a system formed by multiple robots to get a cooperative reconstruction of the scene. The robots decide the best strategy to acquire the image to get the best reconstruction using an objective function defined. In this function, mainly are considered uncertainty of the reconstruction and view points. The result of this optimization is the next position of the robots.

More information

Item ID: 3657
DC Identifier: http://oa.upm.es/3657/
OAI Identifier: oai:oa.upm.es:3657
Official URL: http://www.iciar.uwaterloo.ca/iciar08/
Deposited by: Memoria Investigacion
Deposited on: 08 Mar 2011 12:42
Last Modified: 20 Apr 2016 13:10
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