TY - GEN
T1 - Spatial uncertainty model of a three-view RGB-D camera system
AU - Zhu, Chen
AU - Bilgeri, Simon
AU - Günther, Christoph
N1 - Publisher Copyright:
© Springer International Publishing Switzerland 2014.
PY - 2014
Y1 - 2014
N2 - Multi-view stereo cameras and RGB-D cameras are widely used in robotic vision for 3D map reconstruction in navigation tasks. RGB-D cameras provide accurate depth measurements even in textureless areas, but are sensitive to distortion of its actively projected patterns. Stereo cameras are reliable if and only if there are sufficient features in the visible region. The two kinds of sensors are complementary in performance, so we combine them to a three-view RGB-D system and propose a fusion method for reliable 3D point cloud reconstruction. Furthermore, the reliability of the reconstructed map is vital for robotic navigation, so we build a spatial uncertainty model for the system, which can be easily specialized to either subsystems. The fusion method is shown to have gain in performance from the spatial uncertainty perspectives.
AB - Multi-view stereo cameras and RGB-D cameras are widely used in robotic vision for 3D map reconstruction in navigation tasks. RGB-D cameras provide accurate depth measurements even in textureless areas, but are sensitive to distortion of its actively projected patterns. Stereo cameras are reliable if and only if there are sufficient features in the visible region. The two kinds of sensors are complementary in performance, so we combine them to a three-view RGB-D system and propose a fusion method for reliable 3D point cloud reconstruction. Furthermore, the reliability of the reconstructed map is vital for robotic navigation, so we build a spatial uncertainty model for the system, which can be easily specialized to either subsystems. The fusion method is shown to have gain in performance from the spatial uncertainty perspectives.
UR - http://www.scopus.com/inward/record.url?scp=84916607785&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-14364-4_12
DO - 10.1007/978-3-319-14364-4_12
M3 - Conference contribution
AN - SCOPUS:84916607785
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 117
EP - 128
BT - Advances in Visual Computing - 10th International Symposium, ISVC 2014, Proceedings
A2 - Bebis, George
A2 - Boyle, Richard
A2 - Parvin, Bahram
A2 - Koracin, Darko
A2 - McMahan, Ryan
A2 - Jerald, Jason
A2 - Zhang, Hui
A2 - Drucker, Steven M.
A2 - Chandra, Kambhamettu
A2 - Maha, El Choubassi
A2 - Deng, Zhigang
A2 - Carlson, Mark
PB - Springer Verlag
T2 - 10th International Symposium on Visual Computing, ISVC 2014
Y2 - 8 December 2014 through 10 December 2014
ER -