COOPERATION BETWEEN VISUAL AND INERTIAL INFORMATION FOR 3D VISION

摘要

Advanced sensor systems, exploring high integrity and multiple sensor modalities, have been significantly increasing the capabilities of autonomous vehicles and enlarging the application potential of vision systems. The article describes the cooperation between two relevant sensors- vision systems and inertial sensors. Vision and inertial sensing are two sensory modalities that can be explored to give robust solutions on segmentation of images and three-dimensional vision. This cooperation between these two sensory modalities may be useful for the elaboration of high-level representations such as multi-modality 3D maps, segmentation of leveled ground or vertical structures. In this paper we propose a real-time system that extracts information from dense relative depth maps. This method enables the integration of depth cues on higher level processes including segmentation of structures, object recognition, robot navigation or any other task that requires a threedimensional representation of the physical environment. 1