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Drawing Stereo Disparity Images into Occupancy Grids: Measurement Model and Fast Implementation

Andert, Franz (2009) Drawing Stereo Disparity Images into Occupancy Grids: Measurement Model and Fast Implementation. In: Proceedings of IROS 2009, pp. 5191-5197. IEEE/RSJ International Conference on Intelligent Robots and Systems, 11.-15. Okt. 2009, St. Louis, MO, USA. ISBN 978-1-4244-3804-4.

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Abstract

Mapping the environment is necessary for navigation in unknown areas with autonomous vehicles. In this context, a method to process depth images for occupancy grid mapping is developed. Input data are images with pixel-based distance information and the corresponding camera poses. A measurement model, focusing on stereo-based depth images and their characteristics, is presented. Since an enormous amount of range data must be processed, improvements like image pyramids are used so that the image analysis is possible in real-time. Output is a grid-based image interpretation for sensor fusion, i.e. a world-centric occupancy probability array containing information stored in a single image. Different approaches to draw pixel information into a grid map are presented and discussed in terms of accuracy and performance. As a final result, 3D occupancy grids from aerial image sequences are presented.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Drawing Stereo Disparity Images into Occupancy Grids: Measurement Model and Fast Implementation
Authors:
AuthorsInstitution or Email of Authors
Andert, Franzfranz.andert@dlr.de
Date:14 October 2009
Journal or Publication Title:Proceedings of IROS 2009
Refereed publication:Yes
In ISI Web of Science:No
Page Range:pp. 5191-5197
ISBN:978-1-4244-3804-4
Status:Published
Keywords:Mapping, World Modeling, Stereo Vision, Unmanned Aerial Vehicle
Event Title:IEEE/RSJ International Conference on Intelligent Robots and Systems
Event Location:St. Louis, MO, USA
Event Type:international Conference
Event Dates:11.-15. Okt. 2009
Organizer:IEEE / RSJ
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Aeronautics
HGF - Program Themes:Aircraft Research
DLR - Research area:Aeronautics
DLR - Program:L AR - Aircraft Research
DLR - Research theme (Project):L -- no assignement
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Unmanned Aircraft
Deposited By: Dr.-Ing. Franz Andert
Deposited On:21 Oct 2009 14:34
Last Modified:21 Oct 2009 15:16

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