Understanding spatial configuration of robot's environment from stereo motion images

摘要

When a robot moves around, it obtains a large number of input images of its environment taken at different viewpoints. The mobile robot considered has binocular vision and it obtains a sequence of stereo images from the environment. This paper proposes a method to build the 3D model of the robot's environment and to understand its spatial configuration from these input images, which is one of the central problems for the study of an intelligent mobile robot.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>