Abstract: In this paper we describe an approach to continuous scene modeling for an autonomous mobile robot navigation system operating in indoor environments. The continuous scene modeling is based on a cooperative sensor system that comprises two parts: binocular region based stereo, i.e., a passive depth extraction technique, and depth from focus, i.e., an active depth extraction technique. The region based stereo technique provides an overview of the scene aided by a 3D a priori world model. Since feature based stereo is vulnerable to occlusions, a depth from focus technique is selectively employed at locations where potential occlusions are detected in order to extract the correct depth. Scene maintenance over time is done by generation of expectation images, based on previously sensed scene objects, that are matched with images, recorded by the on-robot stereo camera head. This match allows for detection of previously undetected scene objects and for updating of already known scene objects. The operation of the system is demonstrated on an in-door image sequence. !8
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