Selective refinement of 3-D scene description by attentive observation for mobile robot
✍ Scribed by Hotaka Takizawa; Yoshiaki Shirai; Jun Miura
- Publisher
- Elsevier Science
- Year
- 1996
- Tongue
- English
- Weight
- 795 KB
- Volume
- 17
- Category
- Article
- ISSN
- 0921-8890
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✦ Synopsis
This paper describes a method of constructing a 3-D scene description by attentive observation to find a path to a given destination. From low-resolution stereo images, features are extracted and a scene description is constructed with the constrained Delaunay triangulation. Then, a path is searched for in the description. If no reliable paths are found, an unknown image region on the most promising path is examined in zoomed-in stereo images and new features are extracted from the zoomed-in images. The new features are integrated to the original ones. A new description is similarly constructed of the integrated features, and a path is again searched for in the description. This procedure is repeated until a path is found or no more ambiguous regions are left. The experimental results for a real indoor scene including a chair, desks and computers are shown.